The Ravens sent a late-round pick to the Buccaneers to acquire the 27-year-old, as they look to rebuild their offensive line following a poor season in 2013.
Zuttah told the club's official website: "The past six years in Tampa Bay have been great for me, but now I'm looking forward to joining the Ravens and helping them win another championship.
"That's just a great atmosphere to be around with Ozzie Newsome and John Harbaugh, who have won a Super Bowl. It's a stable environment. It will be great. I'm planning to be in Baltimore for a long time."
The offensive lineman played 16 games for the Bucs last season.