Booth, who along with sporting director Graeme Lowdon left Manor at the end of last season, will take up his position with immediate effect, joining the team for this weekend’s race in Russia.
Toro Rosso team principal Franz Tost said that the move was made with the goal of helping the Italian squad ‘raise its game’.
"I have known John for many years and I am delighted to welcome him to the team,” he said.
"Formula One is becoming ever more complex, with recent changes on the tyre front, car set-up, radio communications and so forth.
"Therefore, having a competitive car and talented drivers, both of which we have, on its own is not enough. With his vast experience I am sure John will help the team raise its game and become a more effective force over a race weekend."
Booth, who will dovetail his role with overseeing a separate Manor assault in the FIA World Endurance Championship, added:
"It is a great honour to join such a well-established and competitive team as Scuderia Toro Rosso.
"It is a team that has achieved so much in a relatively short space of time. I am looking forward to getting started and working with Franz and the team this weekend in Sochi."
Toro Rosso are currently sixth in the constructors' standings with 17 points.