Gillespie returns to England and Headingley -- the scene of his 7-37 to rout England in the fourth Test of the 1997 Ashes series -- the year after his 2005 Ashes failure and subsequent Test exclusion.
He will play a full season for Yorkshire with the exception of playing Twenty20 cricket.
Gillespie leaves for England having taken 40 first-class wickets this Australian summer at an average of 21 runs.
"I've got a few weeks off then I'm off to Yorkshire and looking forward to it... it'll be my first time with an English county," Gillespie said Tuesday.
"I will play the full season but I probably won't play much Twenty20 because I don't like the game and it's probably not suited to someone like me who can't bat and field."
Gillespie, who was left out of the Australian Test squad for this month's three-Test series in South Africa, will spend his first few weeks sharing living space with South Australian and Yorkshire captain Darren Lehmann.