Idris, 23, has been released on compassionate grounds by former club Gold Coast to make the move to the Panthers, with the player wanting to be closer to his family.
Penrith Executive General Manager Phil Gould knows how tough the decision must have been for the Titans.
“I admire the way the club and the player have resolved the situation,” said Gould. “And for Panthers, it is a major coup to recruit a player of such a high profile and tremendous ability.
“Jamal will be a wonderful acquisition for Penrith, both on and off the field.”