The 30-year-old Spaniard joins the German-Italian outfit from the Barloworld team, with whom he ahs ridden for the past two years.
Astarloa won this year's Milano - Torino race, and took second place on stage four of the Tirreno - Adriatico.
Lancaster, who turns 27 next month, shot to prominence as a professional when winning the prologue in the Giro d'Italia last year, and took gold in the team pursuit at the 2004 Olympics in Athens in the 4000m team pursuit.
Pro Tour 2006
CSC launch doping programme
13/11/2006 AT 14:28
Holland's Niki Terpstra and German duo Sebastian Schwager and Marcel Sieberg have also joined Milram.
Pro Tour 2006
Zabel: "Heads must roll"
13/11/2006 AT 14:05
Pro Tour 2006
T-Mobile slam Discos over Basso
10/11/2006 AT 11:49