The Spurs forward heads to the Britannia Stadium along with Honduran midfielder Wilson Palacios, while former Tottenham team-mate Jonathan Woodgate arrived on a free transfer earlier in the summer. Crouch's total fee could rise to £12m depending on add-ons.
Having returned to Spurs, where he graduated from the club's youth academy, the England international scored 24 goals in 93 appearances, including the goal against Manchester City that secured them Champions League football for the 2010-11 season.
Crouch would go on to lead his side to the quarter-finals of the premier European club competition, including a memorable strike during their 1-0 victory against AC Milan at San Siro.
The striker arrives alongside fellow deadline-day signing Cameron Jerome, as manager Tony Pulis completed an impressive summer recruitment drive.
Pulis told Stoke's official website: "There has been a real buzz of excitement around the city about where this club is going since we reached the FA Cup final and then started our Europa League adventure. These signings certainly add to that great sense of anticipation.
"We now have good options in midfield and up front with these captures add to the experienced additions we also made at the back by bringing in two England defenders Jonathan Woodgate and Matthew Upson earlier in the transfer window.
"Peter has an excellent goalscoring record at the highest level. His goals-per-games ratio for England is remarkable and he scored seven goals in 10 Champions League games for Tottenham last season which gives you an idea of his pedigree."