John McGovern, the former Derby and Nottingham Forest midfielder who was manager at Woking last season, has been named as Joyce's assistant having helped out the caretaker manager with coaching duties for the last 10 days.
Joyce, who had been in temporary charge since Hateley departed, will take full control for today's derby at Scunthorpe as Hull look to pull away from their position at the foot of the Third Division.
Joyce, 33, was formerly a player at Bolton, Preston, Plymouth and Burnley before joining the Tigers for pounds 30,000 in the summer of 1996 after spending a loan spell at the club under Terry Dolan.
Joyce, who has accepted a contract until the end of the season, said: "I know the size of the task but I'm looking forward with relish to the job.
"I'm the type of person who relishes a challenge. I've never walked away from one in my life. It has been a difficult time for everyone here but there's tremendous potential."
Tom Belton, the Hull chairman, said: "We've been very impressed with the way Warren and John McGovern have worked with the team under difficult circumstances. It's important to realise that he has the players' respect and also the respect of the fans. We need a lot of hard work doing at Hull City Football Club and we feel Warren is the man for the job."
At the top of the First Division, Jody Craddock is expected to be given a rare first team outing for Sunderland with the central defender Paul Butler is suspended when the leaders entertain 18th-placed Barnsley. Peter Reid, the Sunderland manager, awaits late fitness checks on Martin Scott (knee) and Darren Williams (shin), while Kevin Ball has recovered from a kidney injury and returns to central midfield to link up again with Lee Clark who plays his first game at the Stadium of Light since breaking his leg early in the season.Reuse content