The 27-year-old striker, who had one more year remaining on his contract in south Wales, has penned a three-year deal at Portman Road.
Chopra started his career at hometown club Newcastle before stints with Cardiff, Sunderland and then a second spell with the Bluebirds whom he rejoined in the summer of 2009, scoring 11 goals in 37 appearances last season as City again lost out in the play-offs.
Ipswich are believed to have paid in the region of £1.5million for his services, and Chopra told his new club's official website: "I enjoyed my time at Cardiff but this is a new start for me at Ipswich and I'm looking forward to it.
"I spoke to the manager (Paul Jewell) and was impressed with his plans for the club. I know some of the players here as well and from talking to them it was clear there is real ambition at Ipswich.
"I can`t wait to get going and the target is to help the club reach the Premier League."
Source: PA
Source: PA