The Egyptian football federation said Queiroz, a former Manchester United assistant and Real Madrid manager, would be supported by Diaa El-Sayed and long-time former national team goalkeeper Essam El-Hadary on his coaching staff.
It is the latest in a long line of international jobs for the 68-year-old Queiroz, who took Portugal to the 2010 World Cup. He also coached Iran at the 2014 and 2018 tournaments.
The Portuguese will take over from El-Badry, who was dismissed. Egypt's sluggish performance against Gabon on Sunday, in which they needed a 90th-minute equaliser to rescue a point, and a laboured 1-0 win against Angola in their opening World Cup qualifier, had prompted furious criticism.
Egypt are second behind Libya in their group with four points from two games. They face a crucial doubleheader against the Libyans in October, with only the group winners advancing to the final qualifying round.