Uruguay meet Roy Hodgson's men on 19 June in Sao Paulo, with games against Italy and Costa Rica either side.
Their warm-up programme sees them take on Austria in Klagenfurt on 5 May and Slovenia in Montevideo on 4 June, and they will now host Michael O'Neill's side in between.
A statement on the Uruguayan Football Association (UAF) website read: "The third and final opponent of the Uruguayan national team for their pre-World Cup preparation is confirmed. To the already fixed matches against Austria and Slovenia, it was determined that Northern Ireland will be the rival of Uruguay on May 30."
The sides last met in New Jersey in 2006, during current manager Oscar Tabarez's first match in charge.