The 49-year-old departed Rovers by ‘mutual agreement’ just two days before Richie Wellens was sacked as manager.
He spent eight years at the club after arriving in 2013 following the appointment of Paul Dickov as boss.
Gerrard has been appointed as goalkeeping coach at struggling League Two side Carlisle United.
The former Everton, Oldham Athletic and Nottingham Forest man became the first addition to Paul Simpson’s backroom team last week.
Simpson, who was heavily linked with the Rovers vacancy following Wellens’ departure, has returned for a second spell in charge of the Cumbrians.
Simpson said of the appointment: “Paul is very experienced, both as a player and as a goalkeeper coach.
“He comes highly recommended, and I know he’ll be a positive addition at a time when that’s exactly what we need.
“I think we’ve got some good young keepers, and we have Magnus [Norman] and Mark [Howard], so we’ve got to give them the expert help they need.
“Paul brings that, and I’m looking forward to working with him.”
Carlisle moved out of the drop zone with a 1-0 win at Leyton Orient on Saturday in Simpson’s first game in charge.