The Brazilian midfielder, 23, spent five years with Real Madrid, though never made his competitive debut.
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Reinier joins Atletico Mineiro on a free transfer, though Real Madrid will hold a 50 per cent sell-on clause as part of the deal.
The midfielder has penned a contract to 2029.
Reinier said after putting pen to paper: "It's a pleasure for me to be here in Galo. As I told my father, everyone, and my staff, I wanted a home, and I think I've found the right one.
"I didn't have a home, and now I'm certain that Galo will be my new home."
