The exact length of Benitez's contract with Crystal Palace has not been announced yet.
Crystal Palace's chairman, Steve Parish, expressed his excitement about the new signing, saying: "Walter is an excellent addition to our team, bringing new quality, experience, and competition to our goalkeeping department. He will work alongside our current goalkeepers, Dean and Remi."
Benitez will join the team in South London next month, as they prepare for the upcoming season, which promises to be busy and challenging, with multiple competitions.
At Crystal Palace, Benitez will face competition from the team's current first-choice goalkeeper, Dean Henderson, and back-up goalkeeper, Remi Matthews.