In the middle of the 2016–17 season, Rincón was linked with a move to defending Serie A champions Juventus during the January transfer window; he ultimately signed a three-and-a-half-year deal with the Turin-based club on 3 January 2017 for a reported fee of €8 million, becoming the first Venezuelan ever to represent the Bianconeri, and was given the number 28 shirt. He made his debut for the Turin side on 8 January, coming on as a substitute for Sami Khedira in a 3–0 home win over Bologna, in Serie A. On 14 March, he made his UEFA Champions League debut with the club, coming on as a substitute for Paulo Dybala, in a 1–0 home win over Porto, in the second leg of the round of 16.