Domingo took the reins from Gary Kirsten after the conclusion of last month's Champions Trophy, and has quickly set about shaping his management team as the Proteas prepare for the upcoming tour of Sri Lanka.
The 52-year-old Birrell will be Domingo's right-hand man through to the 2015 World Cup, with the pair having previously worked together at provincial and franchise level, including with the Chevrolet Warriors.
Birrell also led Ireland to the 2007 World Cup, where they recorded a famous win over Pakistan, and has coached the England Under-19s.
Claude Henderson has also been handed the role of spin bowling coach with the Proteas on a consultancy basis.
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- Gary Kirsten