Maldonado will also compete with the team in three races of the GP2 Asia series this season.
The 23-year-old finished in fifth place in the 2008 championship with Piquet Sports, after a strong end to the season.
Next year, he admits he will be trying to go for the title.
"I am very proud to be part of a team with the most titles and winners in the history of the GP2 Series and of course, I hope to contribute to winning the teams championship again as well as fighting for the drivers' title in the new season," said Maldonado.
"ART Grand Prix is a highly professional team combined with an environment which has great human qualities. We instantly got along together during testing and I am sure that it will be a great experience for both of us: let's learn from each other and make a great team which will be ready to fight for both championships."
Team boss Frederic Vasseur added: "Pastor had an exceptional end to the 2008 season, scoring more points than any other driver and three time as many as the GP2 Europe champion during the last eight races. There is no doubt he is one of the fastest and more complete drivers in the series.
"With his raw speed his experience of the series and his knowledge of the tracks it will make him one of the favourites for the 2009 championship. Pastor and the team got along really well during recent testing at the Paul Ricard HTTT circuit. All the lights are green and our aim will be to secure both titles next season."
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