Chipotle Mexican Grill Inc. on Tuesday named Taco Bell Chief Executive Brian Niccol as its next CEO, tapping a fast-food veteran to try to revive the struggling burrito chain.

Mr. Niccol, 43 years old, has run Taco Bell for three years as the chain has been the most successful in the portfolio of Yum Brands Inc., which also owns Pizza Hut and KFC. He will succeed Chipotle founder Steve Ells on March 5.

Mr....