UFC officials announced the bout on Thursday. The fight will take place at UFC 162 in Las Vegas.
The UFC suspended Herman (21-5) after he tested positive for marijuana metabolites after a submission loss to Antonio Rodrigo Nogueira at UFC 153 in October. It was the second time Herman tested positive for marijuana use. He was pulled from a bout at UFC 136 in October 2011 when he failed a prefight drug test.
As part of his six-month suspension, Herman was ordered to attend a 30-day rehab program. He was cleared to fight this month after successfully passing a drug test.
Both heavyweights will look to end recent losing streaks. Herman has lost three consecutive bouts, including back-to-back knockout losses to Stefan Struve and Roy Nelson. He is 1-3 overall in the UFC.
Del Rosario (11-2) has dropped two in a row after opening his career with an 11-fight win streak. Both losses have come via knockout in the second-round.