Haas unveiled former Sauber racer Gutierrez as their second driver on the Friday of this weekend's Formula 1 Gran Premio de Mexico 2015 - which will be Gutierrez's home event when he lines up for the team next year - at the Museo Soumaya, the renowned art museum founded by Carlos Slim and named after his late wife Soumaya Domit.
"This is an excellent opportunity that builds on my time with Ferrari and I will make the most of it,” Gutierrez, the current Ferrari reserve driver, said.
"Gene Haas believes in me and I believe in how he's going about competing in Formula One. To have a race seat in a competitive car with Ferrari power is very special, and I appreciate the faith he has in me. I trust we'll be able to achieve great things together.
Commenting on Gutierrez's appointment, Haas said: "I got to know Esteban through our relationship with Ferrari, and after looking at the success he's had to earn his role there, it became clear he was an excellent choice for our race team.
"He's young and hungry, but not inexperienced. His two years running a full F1 schedule has given him some very good race experience, and having spent this season at Ferrari as their third driver allowed him to see firsthand the methodology that makes Ferrari such a power in Formula One.
"We're very happy to have Esteban as a part of our race team. Between him and Romain, we have a strong driver lineup that will help us develop our car and, ultimately, score some points in our inaugural season."
Gutierrez, 24, made his F1 debut with Sauber in 2013, taking a season-best result of seventh in Japan. He stayed at the Swiss team the following year, but failed to score a point as they struggled for form.
His deal with Haas means Marussia are now the only team with likely vacancies for 2016.