Lucio will complete his free transfer to Juventus on Wednesday after cancelling his contract with rivals Inter.
The Brazilian will undergo his medical in Turin after talks between his agent and the champions ended successfully.
The 34-year-old will sign a two-year contract worth €2.3m a season, but that wage would rise if certain bonus clauses are activated.
It is understood that the deal includes two appearance clauses which would see him be rewarded financially if he plays in at least 50 per cent and then 80 per cent of the club’s games in 2012-13.
Think you know your Italian football? Share your knowledge, tips and comments to win cash prizes in OLBG's World Cup tipster competition - £10,000 to be won!