The Swiss defender has signed a one-year contract following a successful trial period.
The 31-year-old is Mark Warburton’s 11th summer signing and joins after a proposed deal for Joleon Lescott fell through two weeks ago.
Senderos told the Rangers website: “I’m delighted to have finally signed, I’m really pleased and I can’t wait to crack on.
“It is a massive club. I went back to Switzerland and I wanted to be at the Euros; unfortunately it didn’t work out, but when I had the chance to come up here and train and join such as big club, it was a no brainer for me.”
Senderos said that the presence of Warburton at Rangers was one of the reasons he decided on a move to Ibrox.
He added: “He’s a big factor in me joining this football club.
“He’s got big ambitions, he might not say them in the interviews, but within the team there is a lot of belief in this group and, for sure, we want to compete for the top place.
“We know it’s a big task at the moment, but we are up for the challenge and we have the belief within the team. That’s what we have to carry onto the football pitch.”