The 21-year-old has signed a five-year contract with the Anfield club and will wear the number 38 shirt.
Liverpool and Bayern agreed on a deal worth around £35 million for the transfer of Gravenberch.
The midfielder joins Dutch compatriots Virgil van Dijk, who also captains the national team, and Cody Gakpo in Merseyside.
“I’m very happy - very happy that the deal is done and I’m finally here,” Gravenberch said during his first interview with Liverpool.
“If you see it from the outside, it’s one of the biggest clubs in the world. Also the fans, the stadium, I think everything from the outside is top.”
Gravenberch becomes the Reds' fourth signing of the summer, after Alexis Mac Allister, Dominik Szoboszlai and Wataru Endo.
Liverpool's next match is against Aston Villa at Anfield this coming Sunday.
