The 33-year-old full-back has signed a one-year deal with the Hammers on a free transfer after finishing his time with Real Madrid earlier in the summer.
The World Cup, Euros and Champions League winner told West Ham TV: "I am really happy to be here in a great Club in a great league.
"I'm really happy to be back in England and, for me, it's a great chance and I'm looking forward to playing with this side.
"The Stadium is amazing. It's really nice and looks fantastic. Hopefully I'm going to see the Stadium full with all our fans and I'm really happy to be here.
"For me, this is a great chance to be back in England and in the Premier League, which is a fantastic league and I want to put myself here again. This is a big Club and a great Club with fantastic players and a great coach.
"Slaven wants to see me training as soon as possible. I was talking with [Croatia internationals] Luka Modric and Matteo Kovacic and they told me good things about the coach, so I want to work with him and hopefully I can learn a lot of things."
New Hammer @aarbeloa17 won the 2010 @FIFAWorldCup and two @UEFAEURO titles with Spain #WelcomeArbeloapic.twitter.com/SrABo0qvKu
— West Ham United (@WestHamUtd) August 31, 2016