Jurado, who had joined Schalke in 2010 from Atletico Madrid and was reunited with former Real Madrid team-mate Raul for two seasons, failed to hold down a regular starting spot at the German club.
The 26-year-old former Europa League winner with Atletico, who has played for Spain at every youth level but has never won a senior cap, had a contract at Schalke until 2014.
Schalke will be competing in next season's Champions League qualifying rounds after finishing fourth in the Bundesliga.
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