The 24-year old midfielder is Esteghlal’s second foreign player in the current season after Brazilian John Vario.
Details of the former Sporting Cristal player's contract have not been revealed.
Rinaldo is expected to play in the AFC Champions League 2009 in which Esteghlal is the most successful club ever.
Rinaldo has 11 caps and has made his debut for Peru on 11 May 2006 against Trinidad and Tobago.