A runner-up last season in the French league, Monaco announced the news on its website.
Stekelenburg played in the 2010 World Cup final in which the Netherlands lost 1-0 to Spain. But he failed to make the squad for the 2014 tournament in Brazil.
Monaco vice-president Vadim Vasilyev said ''we're happy to have a goalkeeper with such an international experience . Maarten will bring his skills and knowledge to our squad which has many young players.''
Stekelenburg will compete with Danijel Subasic for the starting spot in goal.