The 55-year-old worked under Hodgson at Craven Cottage prior to the current Three Lions boss moving to manage Liverpool after guiding the Cottagers to a Europa League final.
Lewington was previously permitted to work temporarily under Hodgson, but the four-year deal signed on Friday afternoon means he is tied to England through the 2014 World Cup and until after Euro 2016.
He told the Football Association's official website: "I'm delighted to be joining Roy's England coaching staff permanently.
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"I really enjoyed the experience at the Euros this summer and am looking forward to spending more time with the squad as we look to qualify for the World Cup in Brazil.
"I would like to thank everyone at Fulham Football Club for such a wonderful time since I joined as a player in 1980. I have been coach, manager and assistant manager during my time here and this is a very special club full of great people dedicated to taking it forward.
"Being offered a full-time position with England alongside Roy Hodgson is a fantastic opportunity for me and one that I simply couldn't turn down.
"I'm excited at the prospect of being part of a special group of players and backroom staff, who will do their very best to make the nation proud."
FA chairman, David Bernstein, added: "The FA would like to thank Fulham for their cooperation in Ray's appointment to the England coaching set-up.
"I am personally very pleased to have Ray with us full-time as we look to build on the foundations laid at Euro 2012.
"We have important games coming up soon: the August fixture sees England facing Italy again before the World Cup Qualifiers start in earnest with Moldova and Ukraine during September then San Marino and Poland in October. Ray will be playing a key role as we approach these matches."