The Greece international has signed a two-year contract with the German club although no fee has been announced.
The 32 year old made 49 appearances for Liverpool after joining the club from AEK Athens in the summer of 2009.
Kyrgiakos revealed he was looking forward to returning to Germany after spending two seasons at Eintracht Frankfurt from 2006 to 2008.
"Wolfsburg are a good club. They won the championship in 2009," he told the club's official website.
"I'm here to play and I would like to play every game.
"I am fit and ready, but the coach decides when and if I get to play."