The midfielder is in contention for a swift debut when the Swans host Watford on Tuesday, 1 September (19:45 BST).
Iorpenda, who was on the books of Brighton as a youngster, spent 2025-26 on loan at Notts County and helped them to promotion from League Two via the play-offs.
He made 53 appearances and scored three goals, with his exploits leading to him being named as player of the season by his Magpies team-mates and supporters.
Iorpenda’s contract was due to expire at the end of the 2026-27 season and that led to Huddersfield “reluctantly” accepting what they call a “substantial” fee.
Huddersfield head coach Martin Drury said: “I’m disappointed he has chosen to leave our club as I believe our environment would have been a perfect fit for him and his development as both a player and person.
“However, I admire his ambition and I wish him every success for his future.”
Iorpenda boosts a rebuilt Swansea midfield after the summer departure of Ethan Galbraith to Championship rivals Stoke City.
Matos added to his options with the signing of Canada international Stephen Eustaquio, who made his debut off the bench in the 3-0 win at Derby after signing from Porto.