In addition to offensive coordinator, Dooley has served as Grambling's wide receivers coach the last four years, guiding high-powered offenses that have helped the Tigers go 35-3 against SWAC opponents. They've won three straight SWAC West Division titles.
He was named the American Football Coaches Association's assistant coach of the year in 2016.
"It's kind of bittersweet, because he's a personal friend of mine," Grambling coach Broderick Fobbs said, "but he's also a really exceptional football coach and football mind."
Dooley, who played wide receiver at Grambling from 1985-88 under legendary coach Eddie Robinson, has significant experience in the SWAC, having also been an assistant coach at Southern for 14 years and Arkansas-Pine Bluff for three years.
Prairie View went 21-11 overall and 19-6 in conference play over the last three seasons under coach Willie Simmons, who resigned earlier this month to become the head coach at Florida A&M.