The pair first linked up at the iSport GP2 squad in 2008 when Senna finished as runner-up in the standings and Chandhok took 10th. Two years later they were reunited at the fledgling Hispania Formula 1 squad, though Chandhok lost his seat mid-way through the season to the better-funded Sakon Yamamoto.
Now they will line up together again at the Indian Formula E outfit. Chandhok had long been expected to secure a seat with his fellow countrymen, while Senna also appeared odds-on to join the championship for its maiden season.
The Brazilian, the nephew of three-time F1 world champion Ayrton, made a total of 46 grand prix starts for Hispania, Lotus and Williams between 2010 and '12. He has since focussed on sportscar racing, contesting last year's Le Mans 24 Hours with Aston Martin.
Chandhok has also moved into sportscars, racing in the LMP2 class at the 24 Hours for the past two years.
Making its debut this year, Formula E will race at 10 street circuits in major cities - including London, Miami and Monaco - using electric-powered single-seaters. The 2014-15 championship kicks off in Beijing on 13 September.
Senna and Chandhok bring the number of confirmed drivers to six, with Lucas di Grassi and Daniel Abt slated to race for Audi Sport Abt, and Sam Bird and former F1 driver Jaime Alguersuari joining Virgin Racing.