Los Blancos have had a deal in place for the Brazilian since December 2022, and he has now been confirmed as a new player for the reigning Spanish and European champions on a six-year contract.
The 18-year-old has left Palmeiras with a record of 21 goals and four assists in 82 appearances, and he is widely regarded as one of the best young talents in world football.
Endrick will now be competing for a starting role in the Real Madrid attack alongside the likes of Kylian Mbappe, Vinicius Junior and Rodrygo.
Speaking at the unveiling, Real Madrid president Florentino Perez said that the teenager was "born to wear this shirt".
Endrick is confirmed as Real Madrid's latest signing
"Today we welcome one of those footballers who was born to wear this shirt," Perez said. "Dear Endrick, despite your youth you arrive at Real Madrid with an important background."
Meanwhile, Endrick said: "Good afternoon everyone. I want to thank everyone for coming to the Santiago Bernabeu. I'm not going to lie to, I didn't expect so many people, I didn't expect all this.
"The fans are crazy. I am very happy because since I was a child I have always been a fan of Real Madrid and today I am going to play for Madrid.
"I'm here, I'm very happy, my family too. This is crazy. I don't have words to describe what I'm feeling, because I always wanted to be here. I wanted to play for Madrid, it was my dream and today I've made it happen. Now let's say it together. One, two, three, Hala Madrid."
Which shirt number will Endrick wear at Real Madrid?
Real Madrid confirmed ahead of the unveiling that the forward would be wearing the number 16 for Real Madrid.
Endrick also sported the number 16 for Palmeiras, so there will be a sense of familiarity for him.
As well as making a strong start to his club career, the attacker has already managed three goals in 10 appearances for Brazil, famously netting his first international goal against England back in March.
Endrick is capable of operating across the attacking line, but he mainly plays through the middle, and the youngster is expected to be heavily involved for his new club during the 2024-25 campaign.