The Old Lady have chosen ex- Italy manager Luciano Spalletti to lead the team for the rest of the term.
Spalletti replaces the Croatian manager, who was sacked post the Lazio setback recently.
Tudor had joined the club in March filling the shoes of Thiago Motta but departed after seven months at the end of an eight-match winless run.
Spalletti guided Napoli to the Serie A crown in 2022-23 then moving on to lead the Italian national team, which missed out on the 2022 World Cup with Mancini at the helm.
He helped them qualify for Euro 2024 but were eliminated in the round of 16 by Switzerland.
However, Spalletti was sacked by Italy in June following a loss to Norway in World Cup qualifying, putting Italy in danger of missing a third straight World Cup.
Spalletti's managerial career includes Inter Milan, Roma, and Udinese in Serie A and secured two Russian Premier League titles with Zenit St Petersburg.
Massimo Brambilla took interim charge of Juventus for their 3-1 win against Udinese on Wednesday moving them to seventh position in the league - six points behind leaders Napoli after nine games.
In the Champions League, they sit 25th in the league phase, with one loss and two draws in their first three games.
