The former Daggers favourite will help Taylor at Victoria Road after today begins confirmed as John Still’s replacements.
A club statement confirmed: “Peter is an experienced manager has seen five promotions with four different clubs including the likes of Brighton & Hove Albion, Gillingham and Wycombe Wanderers.
“Former Dagenham & Redbridge Assistant Manager Terry Harris returns to The Daggers from Boreham Wood Football Club having enjoyed a very successful season, reaching the play-off final.
“This will be Terry’s fourth spell with us. He is an experienced and popular individual who has relished success as a coach and as an assistant manager.
“Terry was part of The Daggers team that earned promotion from the Ryman League into League One. Harris also helped Luton Town back into the Football League.
“The club are absolutely delighted to take this opportunity to welcome Peter and Terry to The Daggers and wish them success on the upcoming season.”