The Boss, 75, who appeared at a string of Barack Obama's rallies during his election campaigns, joins the likes of Taylor Swift and Jennifer Lawrence as another celebrity Harris backer.
He showed his support for the Democrat by posting an Instagram video recorded at a diner.
Springsteen declared in the clip: "friends, fans, and the press have asked me who I'm supporting in the most important of elections.
"And with full knowledge of my opinions (being) no more or less important than any of my fellow citizens, here's my answer: I'm supporting Kamala Harris for president and Tim Walz for vice president."
Springsteen said November's election was the "most consequential" in his life and he believed America had not felt as divided "politically, spiritually, and emotionally" since the nation's Civil War.
View this post on Instagram A post shared by Bruce Springsteen (@springsteen)
The E Street Band frontman said: "at this moment, it doesn't have to be this way."
Springsteen also described Harris' White House rival Donald Trump the "most dangerous" candidate for president in his lifetime – adding: "he doesn't understand the meaning of this country, its history, or what it means to be deeply American".
He said Harris and her running mate Walz were "committed to a vision of this country that respects and includes everyone, regardless of class, religion, race, your political point of view or sexual identity".
"They want to grow our economy in a way that benefits all – not just for a few like me on top."
Springsteen said that was the vision of America he had been consistently writing about for 55 years.
"Everybody sees things different, and I respect your choice as a fellow citizen," he said.
"But like you, I've only got one vote and it's one of the most precious possessions I have."
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