He has won 19 international caps and leaves on a free transfer, City said on their website (www.mcfc.co.uk).
"Competition for places is healthy and brings out the best in players. We already have a great goalkeeper in Vito Manonne and another one now in Costel," Sunderland director Lee Congerton told the club's website (www.safc.com).
"Add to this youngster Jordan Pickford, who recently signed a long-term deal, and we have a very strong stable of goalkeepers, which is vitally important in the top flight."
Pantilimon added: "It is a great privilege and honour to join a club like Sunderland. They have an amazing history and tradition and of course passionate fans.
"When I left Manchester City it was important that I chose a club with good ambition and a head coach who has the hunger and desire to take the team forward.
"After speaking with the boss, I knew this was the right place and he was the right man. I can't wait to start."
Pantilimon is Sunderland manager Gus Poyet's third signing since he guided them clear of relegation last month.
(Reporting by Tim Collings, editing by Pritha Sarkar)
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