The pair worked together during Joshua's amateur career that was rounded off by a gold medal at the 2012 Olympic Games in London.
McCracken, who is performance director for Team GB, oversaw Joshua's career before the pro ranks and will be in his corner on December 10 when he faces Eric Molina at the Manchester Arena.
Former trainer Tony Sims is staying on board as part of his coaching team.
"I have remained close to Rob and the GB Boxing squad since 2012," Joshua told Sky Sports. "I have consistently turned to him for advice and guidance so I am really excited to have him in my corner, starting on December 10.
"I would like to put on record my thanks to Tony Sims, who will remain in my corner working with Rob as he did to such success with Carl Froch."