Gordon was with General Motors in 2006, switched to Ford the next year to receive greater support, then abruptly moved to Dodge at the start of this season in a technical alliance with Gillett Evernham Motorsports.
That partnership was dissolved late this season, freeing Gordon to align with Toyota.
"After watching their progress last season, we decided that a switch to Toyota was the right package for our team," Gordon said in a statement Tuesday.
He won a Grand National Sport Truck championship in 1989 for the manufacturer.
Toyota had a successful second season in the Sprint Cup Series, placing all three drivers from Joe Gibbs Racing in the Chase for the championship.
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