The defender only made five Premier League appearances for the Gunners but helped Leicester City to promotion during a loan spell in 2013-14.
Despite the sale of Thomas Vermaelen to Barcelona, the 21-year-old has remained well down the pecking order at the Emirates Stadium.
He spent the 2013-14 campaign on loan at Leicester City as the club won promotion to the Premier League and he is hopeful of repeating the feat with the Canaries following his move to Norfolk.
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"It’s brilliant for me to come here and I want to try and get in the team as soon as I can to help Norwich get back to the Premier League," he told Norwich's official club website. "I had to move on from Arsenal and Norwich have given me the chance to prove myself. The Championship is a tough league, but I know what it’s about and I enjoyed it last season.
"I’m really looking forward to getting started."
The Spain under-21 international made five Premier League appearances for the Gunners, with his final appearance for Arsene Wenger's side coming against Sunderland in Feb. 2013.
Norwich manager Neil Adams is hopeful he will be able to bolster his defense following an injury to Ryan Bennett against Ipswich Town.
"He’s a defender who we know can play having come through the Arsenal system, and he had important experience with Leicester last year in the Championship," he said. "He’s certainly one who can come in and give us strength on the left side of our defense."