The Barclays Premier League newcomers confirmed they had signed Sagbo on a two-year deal for an undisclosed fee, after the French club revealed they had reached an agreement with Hull earlier on Friday.
"I am so happy to have signed for Hull City, and I am very grateful for the opportunity," Sagbo told his new club's official website.
"I can't wait to get going, and I look forward to meeting my new team-mates this weekend.
"I want to show the coaches and the fans what I'm all about, but not just with my physical presence. I also hope that my mobility and technical skills can add to what is already a good footballing team."
France-born Sagbo, an Ivory Coast international, had previously been linked to Celtic and West Ham, the club of his half-brother Guy Demel.
Tigers boss Steve Bruce had spoken of his admiration for the forward, who has previously played for Monaco, and of a desire to push through a deal.
Hull have already signed George Boyd, Maynor Figueroa, Curtis Davies, Ahmed Elmohamady, Allan McGregor and Steve Harper as they prepare for their return to the top flight.
Bruce has also been linked with a move for his former Wigan midfielder Wilson Palacios, who is currently at Stoke.