The Germany international announced in January that he would not be renewing his deal with Gladbach and has long been tipped to replace Victor Valdes, who is set to leave Barca after spending his entire senior career at Camp Nou.
Ter Stegen's prospective move to Catalonia was thrown into doubt when Barca were handed a two-window transfer ban in April for breaching rules over the signing of international players under the age of 18.
Ter Stegen, 22, has duly been confirmed as Barca's first addition of the close-season, with the deal announced on the same day that the 22-time Spanish champions confirmed Luis Enrique as their new coach.
Pinto spent six years with Barca and a statement read: "The board of directors wants to publicly thank the professionalism and dedication of Jose Manuel Pinto during these years at the club."
