The 29-year-old has put to pen to paper on a two-year contract with the newly promoted Ligue 1 side, with an option for a third year.
Toulalan helped guide Malaga to the quarter-finals of the UEFA Champions League last season, but he has made no secret of his desire to leave the club in the transfer window.
He returns to Ligue 1 after a two-year absence, having joined Malaga from Lyon in July 2011.
The France international will face the press for the first time with his new club next week, along with fellow new signings Falcao, James Rodriguez and Joao Moutinho.
We are happy with the signature of Jeremy. His skills, his European and international experience, will be an important asset for our team this season, sporting director Vadim Vasilyev told the club s official website.
Toulalan made 27 appearances for Malaga last term.