Dantonio, a former Spartans assistant, succeeds the fired John L. Smith.
Dantonio was in his third year as Cincinnati's head coach. He had an 18-17 record, including a 7-5 mark this season.
The Spartans finished 4-8 overall and 1-7 in the Big Ten, losing eight of their last nine games. Smith had a 22-26 record in four seasons.