The French driver made his debut for Marussia this season, but will move across to Caterham for next year.
"I am very proud to be able to confirm that I am joining Caterham F1 Team next year and I’m looking forward to many seasons of successful racing cooperation", he said.
"I'm enthusiastic to have the opportunity to continue to grow in a team that has a technical relationship with a number of French global companies, including Renault and Total, plus an Official Partnership with EADS. It is clear that the team has great ambitions for the future: the investments already made and the decisions taken in the last few months show how committed the shareholders are to succeed and demonstrates their willingness to keep going forward".
"I would like to thank Tony Fernandes and Kamarudin Meranun for the roles they have played in helping make this dream come true.
"I am very excited about starting my second year in F1 with a team that has so much potential. Caterham F1 Team has everything in place to help it move into a position to fight with a number of teams ahead. I know how determined the team is to keep progressing and I am looking forward to playing my part in helping them move up the grid".
Caterham added that Pic's deal is a 'multi-year' deal.