The former Wales Under 20 boss will leave the capital city region at the end of the current season after three years at the helm.
Wilson will link up with former Wales international and ex Blues head coach Dai Young in Coventry.
“The opportunity to work with Dai was one of the big attractions of moving to Wasps,” said Wilson.
“He is a very experienced director of rugby and I could see the quality of his coaching during his time at Cardiff Blues. His record with Wasps goes before him, having taken the squad from 11th place to the Premiership final during his time at the club.
“They only just lost out on the title last season and you can see what a fantastic squad Dai is building through excellent recruitment and retention of quality players.
“I’m looking forward to learning from him as a coach next season and to being part of the infrastructure Wasps are creating.
“The ambition of the club is clear to see. They have a talented group of players who play a really exciting style of rugby that attracts big crowds. It will be exciting to be part of.
“Until then, I will be doing everything I can to help Cardiff Blues achieve our goals for the remainder of this season.”
Wilson has been a fantastic servant to Welsh rugby having also coached at the Dragons and the Scarlets.
And Wasps director of rugby Young is delighted to have secured the signature of the highly-rated forwards coach.
“While I have only worked with Danny for a limited time when he was part of the academy set-up at Cardiff Blues, I know he has gone on to forge a very strong reputation as a quality coach who is highly regarded within the game, having made a big impact with the teams he’s worked with,” said Young.
The Blues hope to announce Wilson’s successor over the coming weeks.
