The 26-year-old full-back finalised personal terms and completed a medical on Monday, joining the Foxes as a free agent following a four-year spell with League 1 side Tranmere Rovers.
An athletically gifted left-back, blessed with great natural pace, Bakayogo established himself as one of League 1’s outstanding defenders during his time on the Wirral, combining solid defensive instincts with an adventurous attacking approach.
He becomes City manager Nigel Pearson’s first new signing of the summer.
Pearson said: “A number of clubs were interested in signing Zoumana this summer and we were one of those that had been monitoring him for a considerable period of time.
“I’m really pleased he’s chosen Leicester City. It’s important to us that we recruit players, not only with ability, but also with a desire to play for and work hard for this Football Club.
“He’s a good player with a great attitude and I’m sure he’ll fit in well with the current squad we have.”
Zoumana said: “This is a big club and a big challenge for me, stepping up into the Championship. I’ve taken the chance, I hope to have a good season this year and do well for the team.
“The Championship is a new league for me so I will have to work hard to catch up to the pace, but I’m looking forward to working with everyone.”
Born in Paris in 1986, Bakayogo began his career as a youngster with Paris Saint Germain, before moving to London in 2006 to join Millwall. He spent two and a half years at The Den and made 22 appearances for the south-east London club, several alongside Foxes defender Zak Whitbread.
He joined Tranmere in July 2009 and immediately established himself in the first team, making 34 appearances in his debut season. He would go on to play nearly 150 games for Rovers, including 52 in his final season, in which he also weighed in with five goals.