The former Northampton Town, Preston North End and Lincoln City stopper replaces Lee Harrison, who joined Premier League side West Ham United recently.
As well as having made over 500 appearances as a player, the UEFA A licence and UEFA A GK licence holder has a wealth of experience off the field after previously working as a goalkeeping coach at Doncaster Rovers, Nottingham Forest and Peterborough United.
The 44-year-old’s association with Ainsworth goes back to the 90s when the pair were team-mates at Preston and Lincoln.
“I’m really pleased to be here,” he told wwfc.com. “I’ve worked with a range of goalkeepers throughout my career, from ones starting out to ones finishing their careers.
“This role will be as much of a mentoring one as a coaching one – hopefully I can pass on some life experience to Matt and Charlie.
“It’s the first time I’ve worked with someone who I played with and the qualities he had during his playing days are there for all to see as a manager.”
Ainsworth added: “Once I knew Baz was interested in joining us, there wasn’t much of a decision for me as I know his professionalism and work-rate is second to none.
“He’s already struck up a great relationship with Matt and Charlie, as well as the rest of the squad.”
Richardson will also be registered on non-contract terms and takes squad number 44.