The 30-year-old has enjoyed a renaissance this past season having helped Wasps to secure a third-placed finish in the Premiership and set up a semi-final date against Saracens.
Cipriani's form has also resulted in him ending a three-year absence from the England set-up as coach Eddie Jones recently named him in his 34-man squad for the tour of South Africa in June.
The player, who has enjoyed two spells with Wasps with a stint at Sale Sharks sandwiched in between, confirmed in February that he would be leaving the Ricoh Arena, but did not know at the time where his next destination would be.
However, Cipriani has opted to make the move to Gloucester in order to remain eligible for international selection now that he has caught the eye of Jones.
Speaking about the move, Cipriani told the Gloucester official website: "I've always enjoyed playing at Kingsholm and am excited at the prospect of spending the next few years in Cherry and White and playing in front of the Shed.
"Having spoken in depth with David Humphreys and Johan Ackermann, the future they have planned for the club is enticing and one that I very much want to be part of. It's the most exciting move of my career to date.
"I've still some important rugby to play for Wasps in the meantime and, when the time comes, it's probably going to be an emotional farewell.
"But that's the modern game, we'll part on good terms and wish each other well for the future. The next chapter of my career will be as a Gloucester Rugby player and I'm really looking forward to it."