Krul was out of contract this summer, having spent 11 seasons at Newcastle United.
The 30-year-old is hoping that his move to Norwich will help resurrect his career, which has stagnated recently.
Speaking to canaries.co.uk, Krul said: "I'm really happy and really pleased it's all done. It's really nice to sign on the dotted line and I can't wait to get started.
"[I first heard about the interest] last week. I spoke with the manager and people at the club and it moved very quickly.
"That's one of the reasons it happened fast and I like it when somebody is interested properly and they don't mess about.
"The manager rang and explained everything - what his plans were, what he expected of me - and I really liked what I was hearing.
"The manager said he knew what my qualities were and that he was keen to get me back to the level I was at before my injury.
"It's a new start. It feels like a new kickstart in my career. I've done what I've done and I just can't wait to show what I'm worth on the pitch again."