Hennigan spent the past four seasons with Oklahoma City, including the past two seasons as the Thunder's assistant general manager/player personnel. Prior to joining the Thunder, Hennigan spent four seasons with the San Antonio Spurs.
"Rob is an astute strategist and evaluator of talent who comes to the Magic family from two championship-level organizations," Orlando Magic Chief Executive Officer Alex Martins said. "We feel he is an outstanding fit and the right choice to lead our basketball operations team in achieving our championship goals."
Hennigan replaces Otis Smith. The Magic will need to find a new head coach after firing Stan Van Gundy last month.