The defender passed a medical in Turin on Tuesday morning before putting pen to paper on a two-year contract with the Bianconeri later in the day.
Lucio will earn €2.6 million per season with the Old Lady, but that figure could rise on account of a number of performance-related bonuses.
|14/1||Juventus are 14/1 with William Hill to win the Champions League next season.|
The veteran centre-half still had two years to run on his deal with Inter but the club terminated his contract last week by mutual consent.
Lucio was briefly linked with a move to Fenerbahce but the Turkish club were quick to insist that they had no interest in signing the Brazilian, while Bayer Leverkusen reportedly dropped out of the running after learning of their former player's wage demands.
That left the way clear for Juve to sign the 34-year-old, who becomes the fourth major arrival in Turin this summer, with the Bianconeri already having tied up deals for Sebastian Giovinco, Mauricio Isla and Kwadwo Asamoah.