Costa Rica international Navas, 32, enjoyed a hugely successful spell in Madrid, winning the Champions League three times in five years.
But he lost his status as the club’s number one goalkeeper when Thibaut Courtois was signed from Chelsea in 2018.
He will now compete to start for PSG with Sergio Rico, who joined the French club on loan from Sevilla on Sunday.
"I’m really excited to sign for Paris Saint-Germain,” Navas said after signing a four-year contract with PSG, per AS.
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“PSG is a very prestigious club in Latin America and I am keen to be part of the adventure that started several years ago.
“I will do everything I can to help PSG win new titles, bringing all my experience and professionalism.
“And I will also try to win the hearts of the Parisian fans, famous throughout Europe for their passion.”
Real Madrid fans are upset
Yet his departure has left Real Madrid fans disappointed.
Navas was a fan-favourite at the Bernabeu and the supporters aren’t pleased that he’s left.
Indeed, many would have preferred for Courtois to depart instead of Navas.
Courtois’ spell at Real Madrid has been patchy. His first few appearances were ridden with mistakes and he took some time settling in.
And the Belgian is still struggling, conceding in each of his last 11 league games.
Navas, meanwhile, enjoyed many great moments at Los Blancos. Fans will never forget his performance in the 2-2 draw against Bayern Munich in 2018, in which he made eight saves as Real reached the Champions League final.
Fans are now expressing their sadness on social media.
Navas’ departure freed up the No.1 shirt at Real Madrid but it has been taken by Areola, not Courtois.
Spanish Football Federation rules mean that players cannot switch numbers mid-season.
And as Courtois has already worn No.13 this season, he wasn't able to take the No.1 shirt.News Now - Sport News