The alliance has stripped back its command structure since the end of the Cold War, leading to fears that it would be ill equipped to respond to an attack on its eastern flank from an increasingly assertive Russia.
Defence ministers from the 29 NATO countries meeting in Brussels this week are expected to agree the outlines of the new measures, which also include a new European logistics command.
"This will include: a new command to help protect sea lines of communication between North America and Europe," Stoltenberg said.
"And another command to improve the movement of troops and equipment within Europe. Our ability to move forces is essential to deterrence and collective defence," he said.
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At the end of the Cold War, NATO had some 22,000 personnel in 32 commands, but the alliance now has just 7,000 personnel in seven structures.
Concerns have also been raised about NATO's ability to move troops and equipment rapidly around mainland Europe, especially after Russia's annexation of Crimea from Ukraine in 2014 raised fears among eastern members.
US General Ben Hodges, commander of US ground forces in Europe, said last month that "to give civilian leaders options other than a liberation campaign", the alliance needed to be "able to move as quick or quicker than Russian forces".
Stoltenberg said the new logistics command would improve the movement of troops and equipment within Europe but warned that civilian government cooperation was needed to overcome administrative hurdles such as customs rules.