Lennon told the club's official website: "I am delighted to bring in Tommy Craig as my first team coach.
"We had a great number of enquiries and applications for the post, but I decided to go with Tommy as I believe he was, in my mind, most likely to complement my footballing philosophy and he has held a similar position at Newcastle United and Celtic.
"I have met Tommy a number of times and we have always appeared to sing off the same hymn sheet as to how the game should be played.
"This is another positive step in steering St Mirren towards playing the brand of football I fully believe in.
"I'm sure the players and the fans will join with me in welcoming Tommy to his new footballing home."