Beale, 42, was Steven Gerrard's assistant between 2018 and 2021, and is now returning to Glasgow as head coach with a contract until 2026.
"It's fantastic to come back and see everyone again, there are new faces but also people I know very well", said the coach through the official website of Rangers.
The new coach thus succeeds the former Dutch footballer, who arrived at Rangers in November 2021, then to take the place left vacant by Steven Gerrard, who shortly before had signed for Aston Villa, and which he also recently left, in October.
"Unfortunately, the results and performances over the last few months have not lived up to expectations and the decision taken by the management was to terminate the contract with the coach," said Rangers on van Bronckhorst's departure.