Fury's decision to sign up with Warren comes two weeks after Joshua urged him to sign with Matchroom Boxing - the promotion run by Eddie Hearn - in a bid to negotiate a fight.
Fury's return throws another potential contender for either Anthony Joshua or Deontay Wilder, both of whom have been subject to challenges and taunts from the self-proclaimed "Gypsy King".
More recently Fury accepted a backdated ban from UK Anti-Doping, which ended last December, and has successfully reapplied for his licence with the British Boxing Board of Control, paving the way for a comeback.
Fury (25-0, 18 KOs) held a news conference Thursday to announce he will headline a card on June 9 at the Manchester Arena in his native England against an opponent to be determined.
Promoter Warren, who confirmed Fury had signed a "multi-fight" deal with him, said he would keep the former unified heavyweight champion on his toes for the next couple of months.
"All of the current Heavyweight Champions out there are very vulnerable and very beatable".
Joshua-Wilder would take place either at Wembley Stadium in London or the Principality Stadium in Cardiff, with the possibility of a rematch next year in the United States.
Fury has not fought since beating the previously undefeated Wladimir Klitschko to claim the IBF, WBA and WBO world titles in November 2015. But Fury, 29, has never fought again and vacated his titles one year later to focus on substance abuse and mental-health issues after testing positive for cocaine.
Fury added: "I can't wait to get in there and prove I am the best even after all this time out".
Fury ballooned as high as 378 pounds during his two-year layoff and is hoping to get down as low as 259 pounds for his return. My timing and my reflexes are better than they've ever been.
"He needs to get himself fighting fit". I kid you not.
However, none of the aforementioned will raise more eyebrows or spark half as much excitement as the announcement of Tyson Fury.
Fury wants "to reclaim what is rightfully mine" from Joshua. Should a deal be struck, the victor would become the first man to hold all four major heavyweight titles at the same time.