Jones was sacked by England earlier this month after a poor run of form.
"I'm very much looking forward to returning to Twickenham Stadium - a venue I have so many fond memories of," said Jones.
"I'm more motivated than ever to put on a show."
The World XV will be overseen by former All Blacks coach Hansen, against whom Jones and England achieved a 2019 World Cup semi-final victory.
"Going up against Steve rekindles a great rivalry which first started in our days competing in Super Rugby and progressed into the international arena," added Jones.