Yorke sent the A-League rumour mill into a spin on Saturday when it was confirmed he and the club had agreed to part ways.
The former Manchester United forward has been linked with a move to Sydney FC to replace under-pressure coach Steve Corica.
Macarthur sit sixth on the ladder, just three points adrift of third spot.
Sterjovski most recently worked as Macarthur's academy coach, and has been with the club since its birth in 2020.
The 43-year-old was unveiled as coach to the squad at Monday's training session and will take charge of his first game on Saturday afternoon against Western United at Campbelltown Sports Stadium.
The Bulls did not specify the length of Sterjovski's contract.
"Since day one with this club, I have worked with the NPL side to help the talented youngsters achieve their goal of becoming professional players," Sterjovski said.
"The players are still my top priority in this new role and I will do everything to help them reach their potential.
"I want to build on what the club has started this season and there won't be any change to our objective of playing finals football."
Sterjovski enjoyed a glittering playing career which included 43 Socceroos appearances between 2000 and 2010.
At club level, he played in France (Lille OSC), Switzerland (FC Basel), Turkey (Hacettepe), England (Derby) and China (Dalian Aerbin), as well as stints with A-League clubs Perth Glory and Central Coast Mariners.
Yorke's tenure at Macarthur lasted just seven months, with his final game in charge being last Friday's 1-0 loss to Adelaide.Â
The 51-year-old met with club chairman Gino Marra on Saturday morning when it was decided club and coach would part ways.
Assistant Russell Latapy also left the club, leaving Macarthur to search for their third manager in the space of a year after Yorke was brought in to replace Ante Milicic.
Yorke helped the Bulls to their first piece of silverware last October when they lifted the Australia Cup.
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