The 23-year-old joins the Dutch club from Greek side PAOK where he struggled to break into the first team, only managing to play seven matches in two years.
VVV-Venlo was promoted back to the Eredivisie for the first time since 2013 at the end of last season, having finished first in the Netherlands' second division.
Antonis finished last season on loan at Western Sydney Wanderers in the A-League where he played 15 matches, scoring three goals and producing three assists.
"He is a versatile midfielder who has qualities we need in the league," said VVV-Venlo manager Stan Valckx via the club's website.
The former Sydney FC player has played in Venlo's stadium once before with the Young Socceroos.
