Flamengo have formally announced on their official website that they have signed Ronaldinho from Milan on a four-year deal.
The 30-year-old playmaker's contract was due to expire in the summer and Milan felt it best that they went their separate ways.
Milan Vice-President Adriano Galliani gave the Brazil international permission to seek a move home to Brazil after he brought in Antonio Cassano to replace him.
Ronaldinho has been in talks with several Brazilian clubs, notably Palmeiras and Gremio, but after weeks of negotiations Flamengo have won the race to sign the two-time winner of the World Player of the Year award.
"Ronaldo de Assis Moreira, or simply Ronaldinho Gaucho, will wear the Flamengo shirt," read a statement on the club's website.
"I can already imagine that stadium packed full of fans," said Ronaldinho. "They can expect maximum effort from me and obviously I hope that my hard work will get me back into the Brazil side."