The 30-year-old will make the shift to Scotland at the completion of the Mitre 10 Cup, where he will play one final season for the Tasman Makos.
The six-cap Tongan international made his Super Rugby debut with the Highlanders in 2016 and has gone on to make 26 appearances.
"I'm excited to be joining Glasgow Warriors with my family later this year," Halanukonuka told glasgowwarriors.org.
"It is a team aiming for titles and big things which excites me.
