The opening batsman made his debut for Essex in 2006, marking his first Championship start with a century, and going on to score 3,567 runs for the club in all formats before making the move to the Midlands.
He moved to Warwickshire in 2010, helping them win the Clydesdale Bank 40 in 2010, the County Championship in 2012, and the NatWest T20 Blast in 2014.
Chopra captained Warwickshire as both an interim and full-time appointment between 2014 and earlier this year, before he stood down, and last month the club confirmed he would be leaving when his contract expired at the end of the season.
The right-hander has now signed a three-year deal with Essex which will see him remain at the club until the end of the 2019 season.
"We are delighted Varun is rejoining us and coming back to the club where he started his professional career," head coach Chris Silverwood said.
"His Division One experience will be invaluable to our batting line-up and younger players.
"It is great to have an Essex man coming back to the club and he will be a great addition for us moving forward."
Chopra, who was born in Barking, added: "I am delighted to be re-joining Essex, a club where I have fond memories from the early stages of my career.
"I look forward to returning as a more developed player and being part of a talented, ambitious and exciting team led by Chris Silverwood.
"As I enter a key stage in my career, I am intent on contributing in all formats of the game and in doing that, I hope to achieve my desire to play for England.
"I would like to take this opportunity to thank Warwickshire, the players and the fans at Edgbaston for their support over the past seven seasons."
Chopra played 23 times for England Under-19s and has represented the England Lions in seven first-class six one-day matches in his career.
And while Chopra is heading out of Birmingham, Warwickshire have confirmed they have signed fast bowler Olly Stone, 22, from Northamptonshire on a three-year contract.
He will move to the club at the start of next season.
Dougie Brown, Director of Cricket at Warwickshire CCC, said: "Olly is a very exciting cricketer who has bowled some superb, hostile spells and has quickly established himself as one of the best young bowlers in the domestic game.
"We knew that there were a number of counties in for Olly and we are delighted that he has chosen to join Warwickshire to continue his development in the game.
"He has a very big future ahead of him and we look forward to welcoming him in to the squad when pre-season training begins in November ahead of the 2017 season."
© Cricket World 2016