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The 30-year-old Dane who hit ten goals for The Lions last season has signed an initial 12-month contract with The Cobblers with an option to extend it next summer should the move work out.
Hubertz has been wanting to leave The Den since falling down the pecking order over the summer, despite his popularity amongst fans, and hasn't featured in the club's pre-season friendlies.
The 6ft 5in striker, who previously played for Danish Superliga clubs Herfølge BK and AaB, had been set to join Dutch side St. Truiden last month but the deal collapsed at the 11th hour after Millwall were rumoured to have asked
for a fee for the player.
He made just 15 starts for The Lions, with a further 23 appearances from the substitutes bench.