The ambitious Eredivisie side have completed the signing of the towering striker on a Bosman move
Vitesse had been following the 24-year-old attacker for the last six months and beat the likes of Wolfsburg and Stuttgart to Havenaar's signature.
The Japan international, who is of Dutch descent, was in superb form for Ventforet in the 2011 campaign, but was unable to prevent them from dropping to the second tier.
The relegation prompted Havenaar to leave the club, and he admitted that he is delighted with his transfer to Europe.
"It's a great feeling to be a Vitesse player now. It has been a very intense year and a lot has happened. I am looking forward to playing for Vitesse. The club have a lot of ambition. I hope to be able to live up to the expectations," Havenaar said on the club's website.
"It's my personal goal to develop into a better player and I believe that Vitesse and the Eredivisie are the perfect place to do just that."
Havenaar is the second Japanese player at Vitesse following the arrival of Michihiro Yasuda in Arnhem back in January 2011.