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 euros per season with the Old Lady, but that figure could rise on account of a number of performance-related bonuses.
The veteran center 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 was quick to insist that it had no interest in signing the Brazilian, while Bayer Leverkusen reportedly dropped out of the running after learning of its 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.
Goal.com has a new podcast! Goal Daily Podcast is a MUST for all Soccer fans and discusses the very latest news and views. What’s more when you sign up the service is FREE for the first month and you can cancel anytime.
Follow GOAL.COM USA on