Dainelli has joined Chievo on a free transfer after terminating his contract.
"Finally, it's official!" wrote Dainelli on the official club website.
"I am very happy. Last season I got on well here and am satisfied with this new opportunity that Chievo have given me.
"Last term the squad showed its value and has been further enriched with players of quality and experience. We'll do everything to confirm and improve upon that season."