Lerma will join Palace on July 1 when his contract expires this month.
He said: “I am very happy and excited by this new opportunity. Crystal Palace has good players and a good team, and I want to help with every objective the club has next season."
Palace chairman Steve Parish also said: “Jefferson is a strong addition to our squad. He is a proven performer at Premier League level, and his combative and competitive nature will endear him to the Palace fans.
"We look forward to welcoming him to the club on 1st July in preparation for our eleventh consecutive season in the top-flight."