The 26-year-old is the Bavarian club's second major recruit of the summer as they prepare for next year's UEFA Champions League campaign. In April, 27-year-old striker Vahid Hashemian joined the Bundesliga runners-up from VfL Bochum 1848 in a €2m deal.
Lucio, a key member of Brazil's 2002 FIFA World Cup-winning squad, has agreed a three-year contract. He moved to Leverkusen in 2000/01, and the following season helped the club on a surprise run to the Champions League final, where he scored in a 2-1 defeat by Real Madrid CF.
Karl-Heinz Rummenigge, chairman of the Bayern board, said: "I am delighted to have completed this important move. Lucio will be a big character in our new-look team." Earlier this week, Bayern confirmed that Felix Magath, formerly of VfB Stuttgart, will be their coach next season after the departure of Ottmar Hitzfeld.
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