The defender, signed from Anderlecht three years ago, has joined the Portuguese club for an undisclosed fee ahead of Saturday’s friendly between the two sides at the Estadio do Dragao.
Mbemba – who had found his opportunities limited after the arrival of Rafa Benitez – made 59 appearances and scored one goal for Newcastle.
The 23-year-old reacted to the move on Twitter. Mbemba tweeted: “Thanks to all the fans of NUFC for the love you showed me!
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“I’ll never forget that!”
The DR Congo international’s move to Porto brings an end to a protracted transfer saga.
Mbemba – who had been told to find a new club by Benitez – agreed a four-year deal with the Primeira Liga club earlier in the summer.
However, it took the two clubs longer to reach an agreement over a fee.
Speaking about his move, Mbemba said: “I’m going to work to earn my place, because I’d rather have competition.
“I want to give everything I have to show what I can do for everyone. I came here to win titles, but, first and foremost, I will continue to work to win.
“If I work well, I believe I can do it. I want to give everything, as everyone will give, but we have to work.”
Mbemba added: “I did not think that one day I could play in this great team, and so I have to thank everybody, the directors of Porto, who wanted me to come here to play.
“I want to give everything I can for the club.”
Mbemba could face his old club in the warm-up fixture at the Estadio do Dragao.
Meanwhile, Benitez – who wants to move a number of other players out of the club this summer – will now look to reinvest the reported £5million transfer fee in another defender.
Deportivo La Coruna’s Fabian Schar – who has a £3million release clause – is one potential replacement.
United manager Benitez said: “We have to wheel and deal. That’s the way for us, and then we try to continue doing the right things.”