The former Argentina goalkeeper, who spent three years at the Etihad between 2014 and 2017, rejoins the club as a first-team coach after previously working with Maresca at Leicester City and Chelsea.
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Caballero won the League Cup with City in 2016 and played under Pep Guardiola before following Maresca into coaching.
The 44-year-old is now part of a backroom team that includes assistant manager Roberto Vitiello, coach Danny Walker, goalkeeping specialist Michele De Bernardin, fitness coach Marcos Alvarez, analyst Javier Molina and others.
City have also confirmed that James French and Richard Wright will continue in their set-piece and goalkeeping roles respectively.