Yokota has agreed a three-year contract with the option of a further season. The deal is worth a reported initial £2.75 million, plus add-ons.
The 26-year-old is Rangers' ninth close-season signing, and he hopes to make a big impact in Glasgow after swapping the German second tier for the Scottish Premiership.
"I'm really excited to be joining Rangers. This is a massive club with a fantastic history, passionate supporters and high ambitions, so it's a proud moment for me," Yokota said.
"My aim is to help the team achieve success this season, and I hope we can create some special memories together."
Rangers boss Derek McInnes believes Yokota will add creativity to his side as they attempt to win the title for the first time since 2021.
"He brings qualities that we believe will really strengthen our attacking options," said McInnes, whose first game in charge ended in a disappointing 1-1 draw at Dundee United last week.
"At 26, he has gained valuable experience across a number of different leagues in Europe. He is quick, direct and has the ability to make things happen in the final third."
If he gets international clearance in time, Yokota could make his Rangers debut in their Europa League third qualifying round first-leg tie against Poland's Jagiellonia Bialystok on Thursday.