Brazilian-born Italian Motta was appointed in June on a three-year contract after impressing last season when he led Bologna to Champions League qualification, but his arrival in Turin has failed to spark the expected revival.
Juventus were beaten 3-0 at Fiorentina last weekend, on the back of an embarrassing 4-0 loss at home to Atalanta, and Motta's side dropped to fifth, having been overtaken by Bologna, and 12 points behind leaders Inter Milan.
Tudor, 46, spent most of his playing career at Juventus, arriving in 1998. In 2020 the Croatian was Andrea Pirlo's assistant at Juventus for one season and he's also managed Udinese, Hellas Verona and Lazio.
Motta's Juventus also finished 20th in the Champions League standings and were knocked out of the competition at the playoff stage by PSV Eindhoven last month.
Less than a week later, Juventus went out of the Coppa Italia, knocked out by Empoli after a penalty shootout in the quarter-finals.
Juve went 21 league games without defeat earlier in the season but that period saw Motta's team draw 13 of those matches which meant they were never going to feature in the title race.
While there was an upturn after the first loss to Napoli in January, with Juventus winning five in a row, the manager has paid the price for the recent heavy defeats which have angered supporters.
Since his arrival at Juventus, Motta has taken a hard stance with players, with Federico Chiesa told he was not part of the manager's plans before he was sold to Liverpool in August.
Tudor's first game in charge comes at home to Genoa on Saturday and the manager will likely make an immediate tactical change, from Motta's 4-2-3-1 to a 3-4-2-1, which the Croatian implemented upon his arrival at Lazio.
