The 24-year-old England international cited his ambition to win trophies as the key motivation for his move north to Eastlands.
He told the club's official website: "It didn't take too much selling by the boss (Roberto Mancini) when you see the players who are already here and the plans for the club.
"The last thing he said to me was 'be ready for the next game', and then he said 'be ready to win the Premier League', and that's my ultimate aim - that's what I want to do and why I'm here."
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He added: "There's a lot of competition to get there, it's where we all want to be. I'm ambitious and I want to win trophies here. I believe this is a great place to do that and I believe we will do it. Hopefully, sooner rather than later."
Milner's transfer was first mooted before this summer's World Cup, where he featured in England's campaign.
After securing a five-year deal he continued: "The move seems to have gone on a long time - now all I want to do is get out on the field and play.
"I'm ready and raring to go now we've finally got everything done. I can't wait to start a new chapter."
Milner joins a new illustrious cast, following the path taken by David Silva, Mario Balotelli, Jerome Boateng, Yaya Toure and Aleksander Kolarov.
Asked if Milner was his final signing, manager Roberto Mancini said: "I think so. He is a good young player, who can play in every position in the middle and out wide."
Source: PA
Source: PA