The news comes after Denny Ingram was relieved of his role, with the club sitting at the foot of the BetVictor N/West Division.
Roberts announced he was leaving his role as first team coach at Scarborough Athletic to take up the job at Pickering Town.
The club added: "He is no stranger to the area or the club having played for the Pikes in the early 2000's.
"We give Steve a warm welcome to the club and wish him every success."
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