Massa, 37, retired from Formula 1 at the end of the 2017 season, having previously come out of retirement a year earlier to help Williams when Valtteri Bottas signed for Mercedes.
The Brazilian won 11 Grand Prix races during his career and hinted that he would race again with Formula E always mentioned and that has now proven to be the case.
"I'm very happy to be joining the Venturi Formula E team and the Formula E championship, which has become a magnificent competition in such a short space of time," said Massa.
"For some years now, I've been clear about my interest in this innovative, forward-looking discipline that's developing exponentially.
I especially like the format of race meetings, the city-centre circuits and the contact with the fans. I can't wait to take part in testing at the end of the month.
"Gildo [Pastor, Venturi president] has always been a step ahead when it comes to high performance electricity vehicles.
"The team is in a phase of growth and development. I'll do everything I can to contribute to the project and hopefully I'll be among the frontrunners."