Grimes, who has spent the last two seasons with the Buffaloes, is the seventh hire for new head coach Gene Chizik's on the field staff.
Grimes, who is 40 years old, also served as running game coordinator for the Big 12 conference school. He has coached 11 players selected in the NFL Draft, including Levi Jones, who was the 10th overall pick in the 2002 draft.
"I'm very excited about coming to Auburn, working for Coach Chizik and joining the tremendous staff that he has put together," Grimes said. "As coaches we are competitive and love challenges and I'm looking forward to coaching with, and against, some of the best players in the country.
"I can't express enough how excited I am about coming to Auburn right now at this time," he added. "I'm thrilled about the opportunity and excited to help build something great."
Chizik, who coached against Grimes the past two seasons as head coach at Iowa State, said, "Jeff is a very experienced and knowledgeable coach, who has been a part of several high-powered offenses at various schools. He's going to be great addition to our staff and we're look forward to getting him on board."
Prior to moving to CU, Grimes was the offensive line coach from 2004 to 2006 at BYU. He was offensive line coach at Arizona State from 2001-2003 and was also the running game coordinator for the Pac 10 program.
In 2000 he coached with current Colorado head coach Dan Hawkins as an assistant at Boise State. The Broncos led the nation in scoring offense that season and averaged 175 rushing yards per game.
"Jeff is a good man, friend, and coach, we will miss him," Hawkins said on Sunday. "We wish him and his family the best. We are fortunate that we have been able to keep the majority of our staff together."
A 1991 graduate of the University of Texas-El Paso where he lettered at offensive tackle from 1987-90, Grimes coached high school football in Texas and was a graduate assistant coach at Rice and Texas A&M.
After playing in college, he got tryouts with the Los Angeles Raiders of the NFL and the San Antonio Riders of the World Football League prior to beginning his coaching career.
Grimes spent two seasons on the coaching staff in Boulder with the Buffaloes.
In his first season at Colorado in 2007, two true freshmen started most of the games, a first for CU. In the final five games the Buffs allowed only four sacks. Two linemen from that team, Tyler Polumbus and Edwin Harrison, made NFL teams in 2008.
In 2006 at BYU he helped coach the Cougars to the WAC title with an average of 465.5 yards per game. BYU allowed just 15 sacks in 13 games and had a 1,000-yard rusher in Curtis Brown that season.
He had four of his 2001 senior offensive linemen at Arizona State taken in the NFL Draft, which was just the second time that had happened since the NFL switched to a seven-round draft in 1993.
His first full-time collegiate job was at Hardin Simmons in 1998-99 where he was offensive line coach. His teams there were 21-2 and averaged 39.4 points per game. The 1999 team reached the Division I-AA semi-finals.
A native of Garland, Tex., he worked as offensive coordinator and offensive line coach at Riverdale High in El Paso, Tex., in 1993-94. He took a post as a graduate assistant coach at Rice in 1995 and worked as a graduate assistant at Texas A&M for the 1996 and 1997 season.
Grimes and his wife, Sheri, have three children, a daughter named Bailey and sons Garrison and Greydon.
Chizik now has one vacancy for his on-the-field staff and is expected to hire a secondary coach.