The 21-year old Spaniard has penned a three-year deal with the option of a year for an undisclosed fee.
Miquel joined the Gunners’ youth academy in 2008 but made just 14 appearances for the first team of the north London club.
"It's brilliant for me to come here, and I want to try and get in the team as soon as I can to help Norwich get back to the Premier League,” Miquel told the club’s official website.
"I had to move on from Arsenal and Norwich have given me the chance to prove myself. The Championship is a tough league, but I know what it's about and I enjoyed it last season. I'm really looking forward to getting started."
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