The Croatian Tudor, a former Marseille boss, left the Lazio helm after just three months in charge.
Florence born Baroni, 60, has also coached Frosinone, Cremonese, Reggina and Lecce and has signed a multi-year contract, Lazio said, without specifying how many years.
The 45-year-old former Croatia and Juventus defender Tudor did well after replacing Maurizio Sarri in March, taking Lazio from ninth to seventh on the table to qualify for next season’s Europa League.
But there were reports he was at odds with the club over its transfer-market policy and his management of the squad, which was considered too tough.
Baroni successfully kept Hellas Verona in Serie A last season.
ANSA
