The announcement was made in NY on Tuesday and the new version of Jaguar's I-Pace vehicle is set to be tested on public roads later this year.
Professor Ralf Speth, Jaguar Land Rover's chief executive officer, said: "With the Jaguar I-PACE we have a world-beating vehicle that's captured the imagination of customers around the world". The companies say the partnership focuses on safety and reliability, two things that have come into question recently after an Arizona woman was struck and killed by a self-driving vehicle. First tests will start this year, with full implementation of the electric SUV as part of the Waymo lineup in 2020.
Jaguar Land Rover is committed to investing heavily in autonomous, connected and future electrified technologies.
"We can make this premium experience accessible for everyone", he said.
In the meantime, Uber has suspended its self-driving trials - and on Monday, Arizona revoked its licence to do so anyway.
The deal could give Waymo extra cachet with riders, since the Jaguar I-Pace comes from a luxury brand.
Waymo now tests its self-driving system on Chrysler Pacifica minivans built by Fiat Chrysler Automobiles.
But other companies, including Waymo, are still testing - and Waymo is the only company that has vehicles on the road with no human backup drivers in the front seats to take over in an emergency.
It underscores the diversity of vehicles Waymo apparently plans to operate as it expands its self-driving auto service.
Waymo is moving ahead with its plans to launch a driverless service, Krafcik said.
The commitment, announced Tuesday during a NY event that was also webcast, marks another step in Waymo's evolution from a secret project started in Google nine years ago to a spin-off that's gearing up for an audacious attempt to reshape the transportation business.
When it doesn't have Waymo's sensor suite strapped to the roof, the Jaguar I-Pace is a sporty all-electric SUV that strongly rivals the Tesla Model X. It starts at $69,000, does 0-60 in 4.5 seconds, and has a range of 240 miles. He said the company plans a "gradual" safe approach to self-driving vehicles. "That's the world we're building".