The 32-year-old is also a four-time winner of the Super 12 with the Crusaders.
A move for Gibson had been anticipated, but Warriors head coach Sean Lineen was delighted to complete the deal.
Lineen said: "I am very excited about what Daryl will bring to the Warriors both on and off the field.
"He will bring a level of experience and professionalism which can only move us forward in what will be a challenging season. He is also not a bad rugby player."
Gibson added: "I'm looking forward to helping the team develop further after last season's encouraging performances. I'm determined to make Glasgow more successful and help the Warriors to perform well in the Magners League and Heineken Cup.
"The move to Firhill is exciting and with improved team performances and excellent facilities for the supporters, we'll hopefully get more people supporting the professional game in Glasgow."