The force has said this followed a request from the French authorities.
Four Garda members have been deployed to "liaise and assist with Irish supporters throughout the tournament".
Three Gardaí and one Sergeant have been assigned to work with the French authorities and will be on patrol in garda uniform.
Gardaí previously deployed to France during the Euro 2016 championships and were also there earlier this summer to assist during the tourism season.
France has similar arrangements in place with the German, Spanish and Dutch police.
Following a request from French authorities, 4 Garda members have been deployed to France for the duration of Ireland's involvement in @rugbyworldcup
Gardaí, alongside French Authorities, will assist the thousands of Irish supporters travelling to France to support @IrishRugby pic.twitter.com/8ddrZEywQl— Garda Info (@gardainfo) September 6, 2023
A Garda spokesman said the joint patrols are learning opportunities for members from both countries and help expand knowledge around community engagement, cultural sensitivity and the methodologies used in other countries.
He said the exchanges are also “very personally beneficial to individual Gardaí”.
Ireland will take on Romania for their opening game on Saturday.
Johnny Sexton will captain the Irish side in Bordeaux.
Joe McCarthy, James Ryan, Tadhg Beirne, Peter O'Mahony and Caelan Doris have also been named as part of the squad.