The Italian champions have beaten Fenerbahce and Malaga in the race to sign the 34-year-old.
Lucio was tied for one more year to Inter Milan but terminated his contract with the Nerazzurri outfit earlier this week.
A statement from Juventus read: "Today is the day for Lucio to undergo a medical.
"The Brazilian defender has arrived in Turin this morning to undergo the appropriate medical examinations at the Sessant Clinic of Fornaca."
Lucio is expected to sign a two-year contract with the Bianconeri outfit.
The South American joined Inter from Bayern Munich in the summer of 2009 and won the scudetto, Serie A and Champions League titles in his first season in Italy.
When asked about Lucio's imminent move to Juve, Inter Milan president Massimo Moratti said on the club's official website: "These things happen in football. When you rescind a contract, a player is free to go wherever he wants to."
Borussia Dortmund hears Wembley Calling and are headed to London for the Champions League final.
Chelsea won the Europa League on Wednesday. The Blues defeated Benfica 2-1 on injury time goal from Ivanovic.
The Liverpool 2013/14 soccer jersey is available for pre-order. The Reds are eager to compete for silver next season.
The adidas Nitrocharge is the most talked about new cleat in years. It was released on May 15 and will take your pitch by storm.
Bayern Munich are kings of Germany and hope to be crowned kings of Europe at Wembley later this month!
adidas has added some color to the Predator line with this new colorway. Released on May 17. Be the first to own a pair.
The new PUMA evoSPEED 1.2 FG. A great new soccer cleat with classic look and first time for PUMA to be on the cleat.
One of the top soccer cleats for control the Nike CTR360 will not let you down on the field in tight spaces.
The Juventus jersey for the 2013/14 was released earlier this week. Be the first to wear the colors of the Old Lady.
Ajax has released their away soccer jersey for the 2013/14 season. Get in the Gear.