Dear Swati
What you are looking for is basically a form of INDEMNITY BOND; wherein the employee indemnifies your company from any action that his previous company may take with respect to his joining your company.
For the format, you can ask your legal counsel/company's law officer/lawyer retained by the company. The format is a simple one and of about two-page.
It should ideally be executed by the employee, on a non-judicial stamp paper of the requisite value, and certifiedby a Notary Public.
Once it is executed, your company becomes legally safe from any action by the previous employer.
Regards.