Dual Brownlow medallist Harvey, who retired at the end of this season after 383 games with the Saints, will become a development coach with the Blues.
"I am excited about the opportunity to be involved in coaching, in particular with the young list at the Carlton Football Club. In my meetings with Carlton I have been very impressed with the professionalism displayed and the exciting outlook for the future," he said on Friday.
Carlton CEO Greg Swann said Harvey would be an important addition to the club.
"We are delighted that Robert has chosen Carlton ahead of other opportunities that were presented to him by AFL clubs and this reinforces the respect this club is gaining in the industry. Robert is a quality person who brings valuable experience to our club and is fresh out of playing having retired at the end of the 2008 season," Swann said.
"Robert's record speaks for itself; he has outstanding knowledge of the game, is respected by everyone in football and he will play an important role in assisting to fast-track the development of our young players."
"His appointment as development coach will be a huge benefit to our young, emerging list and will be a great asset to our coaching team."
St Kilda CEO Archie Fraser said, "It is with a heavy heart but excitement and optimism for Robert that he becomes a development coach at Carlton from next season.
"Harvs will always be a favourite son of the Saints and while we did offer Robert a full-time position at the club next year, he decided to expand his experiences outside the club after 21 outstanding years at the Saints. We wish him every success in his new role."
