Dlamini is from Cape Town and was a runner before switching to cycling.
He secured a Continental-level contract with Dimension Data’s development team in 2016 and then joined the WorldTour as a trainee the year after.
He has competed in two editions of the Vuelta a España (2019 and 2020).
The thrilled 25-year-old said he hopes to inspire many young South Africans and paid tribute to Qhubeka Assos.
"Being selected to ride in my first Tour de France is an absolute dream come true for me," Dlamini said.
"It’s always been an absolute childhood dream for me and now that I’m about to live it makes it feel surreal.
"I think it speaks to what the team is about, the Ubuntu [I am because we are] spirit, and how we change people’s lives because it is honestly a very special moment - to come from a small township and then to go to the Tour de France.
"Considering where I come from it would simply have been impossible for me to have the opportunity to ride at the Tour de France if it wasn’t for Team Qhubeka Assos.
"The platform that they’ve provided me, and other riders from Africa, to compete at the highest level in cycling has been critical.
"I really hope that this will serve as a reference of hope and inspiration to many young South Africans, and people around the world, who have been working really hard to reach their dreams, my hope is that they take from this that anything is possible.
"I want to race the tour to inspire more kids on Qhubeka bikes to follow in my footsteps and to experience the world like I have, for more kids in communities to put their hands up for bikes to work hard like I did, to dream big. I am living my dream."
Qhubeka Assos’ Tour de France roster also includes road captains Michael Gogl and Simon Clarke, former Vuelta a España winner Fabio Aru, Victor Campenaerts, Max Walscheid, Sean Bennett and Sergio Henao.
