Gilmore, who joined Quins as defense coach in 2024, has been in temporary charge for the past six months after Danny Wilson left the club on the eve of the new season.
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He will work alongside former New Zealand full-back Deans, 66, who served as number two in the All Blacks’ technical setup before becoming the Wallabies’ first non-Australian coach in 2007.
The club has also announced that former Exeter Chiefs coach Rob Hunter, who left Sandy Park at the end of last season, will take up the forwards coach role at The Stoop next season.
The trio will be tasked with bringing about a major improvement at Quins, who are second from bottom in the Prem and suffered their sixth successive defeat against Gloucester last weekend.
“There is a lot of work to do but that is what makes this such an exciting opportunity,” Gilmore told the Harlequins website.
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“We are committed to building the right environment, the right standards and the right team to take this club forward.
“Having Robbie on board is a very positive addition. The guidance and support he will provide to me personally, as well as our training and playing group, will be invaluable.
“To our supporters, we really appreciate the support we have received during a difficult year. We will need that continued support, because returning Harlequins to where it belongs will take a collective effort, but it is one we are fully committed to.”
Harlequins chief executive Laurie Dalrymple added that the club plans to hire an assistant defense coach to take over some of Gilmore’s current duties.