Norwich have announced the signing of Scotland defender Whittaker on a four-year deal, subject to international clearance.
The 28-year-old was a free agent having rejected the transfer of his contract to the newco Rangers and he become new manager Chris Hughton's first signing.
Hughton told the club's official website: "In Steven we have a player who is very versatile - he can play anywhere across the back four and anywhere across midfield, so there's plenty of versatility there.
"It's probably a good time for him. Sometimes it is time to move on to a different club and go there with a lot of enthusiasm and he has international experience too.
"He has of course been used to playing at a very high level when he was at Rangers and in a lot of big games with a passionate crowd behind him.
"So the stage of the Premier League is certainly one that won't faze him with his experience."