Paris Saint-Germain have completed the signing of goalkeeper Keylor Navas from Real Madrid on a permanent basis with Alphonse Areola moving in the opposite direction.

The Costa Rica international established himself as the Spanish giants' first-choice goalkeeper after his arrival in 2014 from Levante and helped Real to three consecutive Champions League titles between 2016 and 2018.

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Navas said in a tweet: "If God changes our plan it is because he has something better in mind. I hope to begin a new path and make history with PSG."

Navas, 32, also won the La Liga, Supercopa de Espana, two UEFA Super Cups and three FIFA Club World Cup titles but has since fallen to second in the pecking order behind Thibaut Courtois.

He joins PSG as No. 1 ahead of Sergio Rico and fellow summer signing Marcin Bulka -- a move that ends years of uncertainty over the goalkeeping hierarchy.

Navas, who underwent his medical in Spain, should debut for the French champions at home to Strasbourg in Ligue 1 after the international break.

He will also immediately come up against his former employers Madrid in the opening match of PSG's Champions League Group A campaign at Parc des Princes.

Areola, 26, moves to the Bernabeu on a one-year loan deal with no option to purchase.