The school announced on Thursday that Menzies will serve as associate coach to Dan Majerle.
Menzies was fired last month after a three-year stint with the Runnin' Rebels. He went 48-48 at UNLV and was unable to lead the program to the NCAA tournament.
Menzies previously spent nine seasons at New Mexico State, leading the Aggies to the NCAA tournament five times while proving himself as an adept recruiter.
Grand Canyon joined the WAC in 2013 and has won 20 games in four straight seasons. The Antelopes have yet to reach the NCAA tournament but played in the WAC tournament title game the past two seasons.