The 26-year-old former Portugal Under-21 defender came through the youth ranks at Porto and joined Zagreb in 2013 following a spell at Romanian club Cluj.
He made more than 100 appearances for Zagreb and helped them win the Croatian league title in 2014 and 2015.
Pinto has faced both Arsenal and Bayern Munich in the 2015-16 Champions League.
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Premier League side Norwich City have signed right-back Ivo Pinto from Dinamo Zagreb for an undisclosed fee.