The glove, which was signed at a sportsmen's dinner in Cannock where Richie was the compere, will go under the hammer at Halls auctioneers on May 1.
A programme for the event, also signed by the two boxers, will also be included in the lot, and all proceeds will go to the Pink Ribbon Breast Cancer Support.
Richie has raised thousands of pounds for cancer charities since he started holding regular auctions of sporting memorabilia in 2015.
He holds the auctions in memory of his father Len, who died from prostate cancer in July that year.
McGuigan, known as the Clone Cyclone, was both the WBA and lineal featherweight world champion from 1985-6.
Collins, nicknamed Celtic Warrior, claimed the WBO super-middleweight crown after a memorable win over Chris Eubank in March 1995, and held the title until his retirement in 1997.
He later appeared in the film Lock, Stock and Two Smoking Barrels as a bouncer at a gym.
It will be the third time Richie has raised money for the Pink Ribbon charity, which provides equipment for the breast cancer unit at Telford's Princess Royal Hospital.
Chairman Tracey Watkins said the money would be used to provide the ward with computer tablets to help patients with their treatment.
The charity has previously handed over £15,000 for a new biopsy machine at the ward. It also opened a 'patient reflection room' which gives breast-cancer patients a quiet place to contemplate and discuss their diagnosis.
"We're very pleased he's helping us again, especially after he's helped us before," Mrs Watkins added.
Richie said: "I'm delighted to help again, it's a fantastic charity.
"They are marvellous people who do so much good work. What they do should get more publicity."
The auction will take place at Halls' auction house in Bowmen Way, Battlefield, Shrewsbury, starting at 10am. The items will be available for viewing the day before the auction, as well as on the morning itself.
People unable to attend in person can place an absentee bid by telephoning 01743 450700 before the auction, indicating the maximum amount they are prepared to bid. The auctioneer will then be able to bid on your behalf.
Alternatively, it is possible to bid live over the internet, by registering on the-saleroom.com/halls – it is advisable to do this at least a day before the auction takes place.