The Serie A powerhouse have chosen ex- Azzurri head coach Luciano Spalletti to lead the team for the remainder of the campaign.
The experienced coach steps in for the Croatian manager, who was dismissed post the Lazio setback on Sunday.
Tudor had joined the club in March as Thiago Motta's replacement but left after seven months after an eight-game winless streak.
Spalletti guided Napoli to the Serie A crown in 2022-23 then moving on to lead the Italian national team, who had failed to qualify for the 2022 World Cup with Mancini at the helm.
He secured their spot in Euro 2024 but were eliminated in the round of 16 by Switzerland.
Nonetheless, Italy dismissed Spalletti in June following a loss to Norway in World Cup qualifying, as Italy faced the possibility of not making a third World Cup in a row.
Spalletti has also managed Inter Milan, Roma and Udinese in Serie A and lifted the Russian league trophy twice while at Zenit St Petersburg.
Massimo Brambilla served as interim manager for Juventus in the midweek 3-1 triumph over Udinese placing them seventh in the Serie A standings - trailing leaders Napoli by six points after nine matches.
In the Champions League, they sit 25th in the league phase, having lost once and drawn twice in their opening three matches.
