Working with Lyft will give the technology giant access to swathes of data, while the ride-hailing app will be eager to join the autonomous vehicle battle with a powerful ally.
"Waymo holds today's best self-driving technology, and collaborating with them will accelerate our shared vision of improving lives with the world's best transportation," said Lyft.
The tie-up comes as a blow to Uber, which has hit multiple roadblocks in its autonomous vehicle ambitions. Uber is fighting a lawsuit against Google over its driverless technology. Google is suing Uber for allegedly stealing the technology behind its self-driving vehicles.
Since the proceedings began, the head of Uber's self-driving division and former Google employee Anthony Levandowski has stepped aside. Sherif Markaby also resigned as the company's vice president of global vehicle programs.
The embattled ride-hailing app is separately facing a criminal investigation by the US Government over the secret "Greyball" technology that it is accused of using to evade regulators.