According to The Hollywood Reporter, director James Cameron made the announcement at a private event celebrating the franchise.
Cameron announced he was reuniting the first film's two main actors, Schwarzenegger and Hamilton, in an effort to change the perception of gender roles in action films.
"As meaningful as she was to gender and action stars everywhere back then, it's going to make a huge statement to have that seasoned warrior that she's become return," he said.
"There are 50-year-old, 60-year-old guys out there killing bad guys, but there isn't an example of that for women."
The film is already in pre-production, with Deadpool's Tim Miller behind the camera and Cameron himself coming up with the story.
According to THR, Cameron and Miller have created a writers room to turn the story into a script and hired David Goyer, whose writing credits include the Dark Knight series.
Hamilton first starred as Sarah Connor in the 1984 original film, reprising her role seven years later for Judgement Day.
The actress was married to Cameron in the late 1990s, but the couple split a few years later, leaving plans for her appearance in further films on hold.
When the first Terminator came out, it was praised for its feminist stand regarding Hamilton's character, but Cameron has lately come under fire for his remarks regarding Patty Jenkins' Wonder Woman.
"All of the self-congratulatory back-patting Hollywood's been doing over Wonder Woman has been so misguided," he said.
"She's an objectified icon, and it's just male Hollywood doing the same old thing," he added.
Jenkins replied on Twitter, saying Cameron's "inability to understand Wonder Woman" comes from the fact that "he is not a woman".
Cameron defended his Sarah Connor character, saying she was "not a beauty icon", but "strong, troubled and a terrible mother".
"She earned the respect of the audience through pure grit," Cameron added.
A release date for Terminator 6 is yet to be revealed.
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