The 32-year-old Matildas midfielder has signed a multi-year deal and is a Roar legend. She played with the club between 2008 and 2018 and won the 2008/09 championship.
Yallop famously slotted home a pressure penalty in the recent Women's World Cup quarter-final win over France that helped send the Matildas through to their first semi-final.
She said there was a sense of nostalgia in returning to the Roar and has set her sights on winning another title, while being an inspiration to the younger players in the squad.
"I'm excited to be home. Having a World Cup at home just brings the nostalgia back to returning to Brisbane Roar as well, where I did a fair chunk of my youth football. The timing couldn't be better," Yallop said.
"I have a lot to offer for younger players coming through and balancing out the team. Having a range in the age group really shapes the team so I'm looking forward to providing that experience.
"The inaugural season and winning the championship is a very fond memory of mine. I am always chasing that feeling again. That will be our team's aspiration this season and mine as well."
Roar head coach Garrath McPherson said Yallop was a role model for the next generation and would be a central figure in the club's aim to improve markedly on their ninth-placed finish last season.
"Tameka has been overseas competing in the world's best competitions for a number of years and we are proud that she has returned to us to continue her career," said McPherson.
"She played an important role for the Matildas across their World Cup campaign and I am happy that she gets to continue her career with her loved ones nearby.
"As a central midfielder creating and scoring goals have been trademarks of her career and having her back in orange provides us another attacking weapon for the seasons ahead."