Antonio Rudiger has signed a four-year deal with European champions Real Madrid. 

The German international joins Carlo Ancelotti's side as a free agent having allowed his Chelsea contract to expire. 

He tweeted: "I'm proud to announce I'll be joining Real Madrid. 

"I'm super excited for all the challenges ahead and can't wait to play my first games for this huge club."

Real plan to officially present Rudiger, who is currently on international duty, as their player at a ceremony on June 20.

Had Chelsea's ownership saga not dragged on, the popular centre-back may have extended his stay at Stamford Bridge.

But with contract talks and transfer plans placed on hold when Roman Abramovich was sanctioned in March, the Blues were unable to make a last-ditch attempt to keep him.

And as Real waited in the wings, it soon became clear Rudiger intended to bid farewell to the club he joined from Roma for £29million in July 2017.  

Confirming the news on their Twitter account, Chelsea said: "So many memories. Thank you for everything, Toni."

An article on the club's website added: "The German defender has left the Blues to join Real Madrid, having played a huge role in our successes in recent seasons. 

"Rudiger lifted the FA Cup, Champions League, Europa League, Super Cup and Club World Cup with Chelsea, playing a crucial role in all those triumphs at the heart of our defence. 

"The 29-year-old was also an important figure in the dressing room with his leadership and passion, while his dedication and desire to win never faltered, even when it became clear he would be leaving the club this summer.

"His disappointment was obvious when defeats to Real in the Champions League [quarter-finals] and Liverpool in the Carabao Cup and FA Cup finals denied him the chance to say goodbye with one more piece of silverware.

"Rudiger made 54 appearances in all competitions in his final campaign, all from the start.

"He departs with 203 appearances and 12 goals to his name, having established himself as one of the most passionate characters to represent the club in recent memory. 

"Chelsea thank Toni for his contribution to our success over the last five years and wish him well in his future career."