Martinez, 50, was the Rays' bench coach since 2008 while Maddon was the manager there. Martinez takes over for Brandon Hyde, who served in that role last season under former manager Rick Renteria and will continue with the organization as its first-base coach.
Martinez and Maddon share the same agent, Chicagoan Alan Nero.
Martinez was under consideration for the Rays' managerial position but didn't make the final cut. He was under contract for another season with Tampa Bay but chose to leave after losing out on the yet-filled manager's job.
The Rays filed tampering charges against the Cubs when they hired Maddon away from Tampa Bay. As of Thursday, the league would not comment on the progress of that investigation. The Cubs would technically have needed permission from Tampa Bay to talk with Martinez about a job with the team.
Martinez was a third-round pick of the Cubs in 1983, playing parts of three seasons with them before being traded to Montreal in 1988. He returned to the Cubs for 18 games in 2000 and also played for the White Sox for three seasons in the mid-1990s. Overall, he played 16 years in the majors.
Martinez checks several boxes for the Cubs as a Spanish-speaking coach who played at Wrigley Field. After not having a true outfield coach on their staff last season, the organization has hired two former Cubs outfielders in Martinez and Doug Dascenzo, who will move from first-base coach to outfield and baserunning coordinator.
Martinez is presumably a hire that Maddon pushed for as the latter came aboard after the Cubs coaching staff was already invited back for next season.
Henry Blanco was also named the quality assurance coach.