The 33-year-old has agreed a one-year deal at Vicarage Road, with the club having the option for a further 12 months.
Watford announced on their website: "Heurelho Gomes has agreed terms on a one-year deal at Vicarage Road and will officially become a Watford player on July 1."
Gomes spent part of last season on loan at Bundesliga side Hoffenheim.
He made 135 appearances for Tottenham over a six-year period having arrived at White Hart Lane from PSV Eindhoven in 2008.
Having been given his international bow in the 2003 CONCACAF Gold Cup, Gomes was also part of Brazil's 2010 World Cup squad in South Africa.
- Sports & Recreation
- Heurelho Gomes
- Vicarage Road