The attacker has been granted permission to sit out Thursday's session in order to resolve his future with the English Premier League club.
Barcelona confirmed that Pedro missed Thursday morning's training session to complete his move to Chelsea.
The Spain international previously appeared to be on his way to Manchester United, but the club's unwillingness to match Barca's €30 million ($33.5M) asking price left the 28-year-old considering other options.
Chelsea then made a late bid to hijack United's move for Pedro and he is now poised to continue his career at Stamford Bridge instead.