The FA say Heaton, who has made one appearance for United since re-signing for the Premier League giants in 2021, will head out to Germany to support England goalkeepers Jordan Pickford, Aaron Ramsdale and Dean Henderson during the tournament.
Heaton, 38, won three caps for England, making his international debut against Australia in May 2016 and playing his last game the following year.
The shot-stopper represented England at various youth levels and played for the likes of Burnley, Aston Villa, Bristol City and Cardiff City before returning to his boyhood club Manchester United three years ago.
Despite not featuring for the Red Devils in the Premier League – his sole appearance for the club came in the League Cup – Heaton is in talks with Manchester United over a contract extension, the club have confirmed.
England boss Gareth Southgate, who takes his Euro 2024 squad to Germany on Monday, said: ‘I am really pleased Tom has agreed to join us in Germany.
‘Experience tells us that a tournament can put a lot of demand on our goalkeeping group led by Martyn Margetson. Tom will play an invaluable role on the training pitch supporting Jordan, Aaron and Dean.
‘Off the field as someone we all know well, he will add to the positive environment we are always looking to create. We are grateful to Manchester United for their support in making this happen.’
Heaton, meanwhile, added: ‘I am incredibly honoured to be asked by Gareth to join the squad.
‘To get the call to go to a major tournament, to help in any way I can and pass on my experience is a proud moment. We have a great squad, I’m excited and can’t wait to join the group.’
Heaton joins Manchester United team-mates Luke Shaw and Kobbie Mainoo in England’s Euros squad. Harry Maguire was also expected to travel but missed out on a place on the plane through injury.
England, who are bidding to win their first major trophy since 1966, begin their Euro 2024 campaign on Sunday against Serbia.
Southgate’s side were beaten finalists at Euro 2020 and reached the latter stages of the last two World Cups.
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