It appears that you can use any controller on the Xbox One, including old Xbox 360 controllers, or even Sony’s DualShock 4. What you’ll need is a tool called “Cronus Max”, a USB tool that essentially allows you to plug any device into the machine.
The tool doesn’t appear to void any warranties of the Xbox One, as you don’t ever open the console in any way. But, using controller mods might be frowned upon by the Xbox Live enforcement teams.
See, the Cronus Max doesn’t just allow you to use other controllers. It allows you to use mods, and macro-commands for the controllers as well.
You can find the Cronus Max working its magic in the video below.