Gibson, a former Crusader and All Blacks centre, played in Glasgow and at Leicester Tigers before returning to assist Todd Blackadder at the Crusaders for the 2009 season. An announcement on the Crusaders' new assistant coaches is believed to be imminent, with Aaron Mauger and Tabai Matson leading contenders.
Cheika said: "Daryl has excellent skills in the areas we wish to improve, in the continuity of attack and around the ruck.
"He has great experience of Super Rugby and in that sense his experience is a good complement for mine and Alan's.
"He also has a very rounded approach to the game, having coached in Super Rugby and in the UK and against teams from Australia, South Africa, New Zealand and all over Europe. He's been a successful player and a coach at that level.''