The 34-year-old becomes new Arsenal head coach Unai Emery's first signing. He will wear the No.12 jersey at Arsenal.
A hugely-experienced right-sided defender, Lichtsteiner made over 250 appearances for Juventus, where he won seven consecutive Serie A titles.
He is also the fourth-most capped player in Switzerland history with 99 appearances for his country. He has also been the Swiss captain since 2016.
Emery said: "Stephan brings huge experience and leadership to our squad. He's a player with great quality with a very positive and determined attitude. Stephan will improve us on and off the pitch."
Lichtsteiner started his senior career in 2001 with Swiss club Grasshopper Zurich, where he won the league title in 2003.
He played in France with Lille for three years before moving to Lazio in Italy in 2008, where he won the Coppa Italia and the Supercoppa Italiana before moving to Juventus in 2011. With the Turin giants, Lichtsteiner reached two Champions League finals in 2015 and 2017.
"I hope I can bring a lot of that mentality. It's a little bit of the same project that I did seven years ago with Juventus. Juventus also, for two times, didn't qualify for the Champions League. I hope I can bring a lot of experience, a lot of mentality and together, with my team, come back to the highest level of the Champions League," Lichtsteiner said, according to Arsenal's website.
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