Haley, who interviewed for the job earlier in the week, has been rumored as a favorite for weeks. His Cardinals, one of the NFL's highest-scoring offenses, advanced through the NFC playoffs to the Super Bowl.
Haley and new Chiefs general manager Scott Pioli worked together with the New York Jets between 1997 and 1999, with Pioli as director of pro personnel and Haley as an assistant coach.
Pioli, who left a front-office position with the Patriots to take over as Chiefs GM last month, fired former coach Herm Edwards on Jan. 23.
Haley was scheduled to arrive in Honolulu for the Pro Bowl Thursday as a guest of Cardinals wideout Larry Fitzgerald, but canceled at the last moment because of the Kansas City job, according to FOXSports.com.