McIntosh takes over from the interim management team of John Stancliffe and Craig Spink, who have been in charge since Spencer Fearn left for a role at Sheffield Wednesday.
Frickley chief executive, Ryan McKnight, said: “Martin McIntosh is a great appointment for the club and one we are very excited about. His experience, local knowledge and desire for success are all great attributes that are now at home at Westfield Lane.
“We’re very much looking forward to working together.”
McIntosh was previously in charge at Ilkeston Town and also had a successful spell as manager at Buxton.
His first game in charge will be at home to Loughborough Dynamo on Saturday.
Meanwhile, Spink has left his coaching role at the club while Stancliffe will remain in his role as head of the club’s community foundation.