Lehmann, who played for Schalke and Borussia Dortmund in the Bundesliga, will compete with Raphael Schafer for the goalkeeping position at Stuttgart.
Lehmann's exit, though expected, is likely to persuade Arsene Wenger to recruit a new goalkeeper.
The Arsenal manager currently has Almunia as his number one, with Polish international Lukasz Fabianski a highly-rated, but relatively inexperienced, second keeper.
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