The right-back played 17 times for the Dutch side last season after having spent the previous four seasons with AGOVV Apeldoorn, where he made over 100 appearances.
Cathalina spent two weeks on trial with Rovers at the end of last season and impressed enough to earn a contract at Prenton Park.
Manager Les Parry said: "Timothy did very well while he was over on trial and he will be a good addition to our squad.
"He's a fast, physical right-back who is comfortable on the ball and I'm delighted he has agreed to join us."