After successfully completing a medical and agreeing personal terms the Spanish striker becomes the club's record signing.
Spurs agreed a fee with the Liga outfit on Friday, having met the Spain international's 25.9 million pound release clause, and the deal has now been confirmed after Soldado successfully completed a medical and agreed personal terms.
The 28-year-old, who spent three years at the Mestalla and scored 81 goals in 141 matches, could make his bow in Spurs' final preseason match against Espanyol on Saturday.
"We are delighted to confirm the signing of Roberto Soldado from Valencia after the player successfully completed his medical," read a statement on Tottenham's official website.
"The Spain international striker is expected to be available for the first time when we face Espanyol in our final preseason friendly at White Hart Lane next weekend."
Soldado scored 24 goals in La Liga last season and joins a strike force that already includes Jermain Defoe and Emmanuel Adebayor.
The Real Madrid academy product has won 11 caps for the Spanish national team, scoring six times, and becomes Tottenham's record signing, smashing the 17 million pounds spent on Paulinho.