Waymo is currently racing against Uber to develop a driverless ride-hailing service and the tie-up with Jaguar - which is reported to cost around £1.3bn - pushes their ambition, The Guardian newspaper reported.
The car company plans to deliver the cars to Waymo from 2020 and although the I-Pace will be produced in Austria, Jaguar revealed it is a British designed and engineered vehicle.
Ralf Speth, the JLR chief executive, said: "With the Jaguar I-Pace we have a world-beating car that's captured the imagination of customers around the world. Our passion for further advancing smart mobility needs expert long-term partners.
"In joining forces with Waymo we are pioneering to push the boundaries of technology. Together we will deliver the self-driving Waymo Jaguar I-Pace with the grace, space and eco-pace that customers expect."
Unlike Uber - whose testing has been suspended following a crash which killed a pedestrian - Waymo is currently the only company with a fleet of self-driving cars on public roads in the US.
Waymo has been building a fleet of cars that are self-driving in partnership with Fiat Chrysler since 2015 and said it would buy thousands more last month.
John Krafcik, the chief executive of Waymo, said: "While we've been focused at Waymo on building the world's most experienced driver, the team at Jaguar Land Rover has developed an all-new battery-electric platform that looks to set a new standard in safety, design and capability."