The former Woking manager joins weeks after Pools parted company with Darren Sarll.
Gavin Skelton has been appointed as the new first team coach and will be guided by Lawrence, one of only a few managers to have been in the dugout for more than 1,000 matches.
The 76-year-old has taken five points from the three games since he took over again on an interim basis.
“It’s been a very thorough and professional process that the Board has conducted, and it’s a decision we’re very excited about,” the former Charlton, Middlesbrough manager told the club’s website.
“A lot went into it and one of the priorities was a long-term plan, and the idea is to offer my experience where possible to develop the rest of the team.
“We now have a lot of depth within our coaching staff and each member holds different qualities which we’ll be able to lean on during the course of the season.”
A Pools spokesperson said: “We are really pleased to confirm our new management team following an extensive review and process.
“Lennie has an incredible track record in management as well as with his mentorship roles of coaches and managers. He’s also proven on multiple caretaker occasions at Hartlepool United his ability and desire to step up and hold the manager position, which has been evident in his recent results and a reformed style of play.
“As Board we were keen to see the trajectory and senior stewardship under Lennie continue, and with Anthony and Gavin we have also secured two outstanding pro licence technical coaches who are highly regarded within the game.
“We believe their complementary attributes and desire to step up in due course will fit well with Lennie, to give the Club both the best opportunity in the immediate short term this season whilst also planning longer term.
“Additionally we are looking longer term with the likes of Nicky Featherstone and supporting his development beyond playing career, and the full complement of first team support staff including medical, strength & conditioning, scouting and analysis will also remain at the management teams’ disposal.”