The 22 year-old moves to West Ham for a fee of €25m, signing a deal to 2030.
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"I am very happy. I will give my all for this club, leaving everything on the pitch, all my effort, all my dedication," said Felipe.
"The fans really like players who fight for the badge, and I can promise that I will leave every last drop of sweat on the pitch for this club.
"I want to send a strong message that I have come to prove my worth."
The son of former FC Porto and Braga striker Pena, Pablo was born in Portugal and raised in Brazil before returning to Portugal to join Primeira Division club Famalicão at the age of 16.