Despite boss Nigel Adkins recently denying a move for the 24-year-old becomes the club's sixth summer signing.
Yoshida, who captained his country at the London Olympics this summer, has played over 50 games during two years with Venlo and netted five goals.
Saints have already bolstered their squad with the arrival of Steven Davis, Nathaniel Clyne, Jay Rodriguez, Emmanuel Mayuka and Paulo Gazzanigato.
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