Formula 2 championship leader Mick Schumacher, son of seven-time Formula 1 champion Michael, will complete the Haas team's driver line-up for the 2021 season.
Schumacher will thus reach the top level of the sport 30 years after his father did, who made his debut with Jordan at the 1991 Belgian GP.
The 21-year-old will partner fellow F2 graduate Nikita Mazepin, who was announced on Tuesday.
Both drivers are scheduled to get their first taste of the current Haas car in the young driver test that takes place two days after the Abu Dhabi GP.
Schumacher earned his superlicence by winning the 2018 FIA F3 championship with Prema, before moving up to F2 with the same team the following year.
He had a difficult first season in the category, winning one sprint race and finishing 12th, but he has demonstrated significant progress this season.
Having won feature races at Monza and Sochi he tops the points table with just next weekend's Bahrain outer loop finale to come.
Schumacher is a member of the Ferrari Driver Academy, and his signing by Haas represents a new stage in the relationship between the team and Maranello, which had not previously extended to driver decisions.
"The prospect of being on the Formula 1 grid next year makes me incredibly happy and I'm simply speechless," said Schumacher.
"I would like to thank Haas F1 Team, Scuderia Ferrari and the Ferrari Driver Academy for placing their trust in me.
"I also want to acknowledge and extend my love to my parents. I know that I owe them everything. I have always believed that I would realise my dream of Formula 1.
"A huge thank you must also go to all the great motorsport fans out there who have supported me throughout my career.
"I will give it my all, as I always do, and I look forward to going on this journey together with Haas and them."
"I'm very pleased that we're able to confirm Mick Schumacher in our driver lineup for next season and I look forward to welcoming him into the team," said Haas team principal Gunther Steiner.
"The Formula 2 Championship has long served as a proving ground for talent to showcase their credentials and this year's field has undoubtedly been one of the most competitive in recent seasons.
"Mick has won races, collected podiums and excelled against some pretty exceptional talent in 2020.
"I firmly believe he's earned the opportunity to graduate into Formula 1 based on his performances. We have an opportunity ahead of us, as a team, to evaluate and nurture a new driver given our familiarity with our race package heading into 2021.
"We are putting in place our building blocks for the continued long-term growth of the team and I look forward to Mick's contributions both on and off the track in that process."
He made his official F1 public testing debut when he drove for Alfa Romeo in Bahrain in April 2019, before switching to Ferrari the following day. This year he was scheduled to drive for Alfa in FP1 at the Eifel GP, but the day's activity was rained off.
He will however drive in FP1 at next weekend's Abu Dhabi finale.
Ferrari is now set to secure a reserve and testing role for Schumacher's F2 title rival Callum Ilott, who confirmed last week that he will not be racing in F1 next year.