The central defender, who stands at 6ft 5in, has signed a five-year deal which runs until the summer of 2029.
A Serbia international, Milenković has played 57 times for his country including every minute of their UEFA Euro 2024 campaign.
That tournament came on the back of an impressive campaign for Fiorentina, where he made a total of 50 appearances across all competitions for the Italian outfit as they reached the UEFA Europa Conference League final, losing out to Olympiacos who became the first Greek team ever to lift a European trophy.
The previous campaign, Milenković was named in the Conference League Team of the Tournament as they reached the final once again, and the powerful defender departs Italy having made 264 appearances across a seven-year spell.
Born in Belgrade, Milenković came through the ranks at Partizan, winning a Serbian Cup in his debut season in the first team before winning the Serbian league and cup double the following season.
Chief Football Officer Ross Wilson added: “We are excited to welcome Nikola to Nottingham Forest today. He is a key part of our squad planning this summer and I know how enthusiastic he has been to join the club.
“We have long admired his performances with the Serbian national team, and in Serie A and European competitions for Fiorentina.
“We are delighted that he will bring his experience and qualities to Nottingham Forest.”
A full first interview with Milenković will be published on Forest TV on Thursday.
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