The museum is surrounded by a crescent-shaped pond and located on the edge of the Metropolitan Park in the city of Puebla.
Permanent collections are spread across eight themed galleries, which aim to show baroque's influence on different areas of the arts.
The 18,000-square-metre building also features a mezzanine level linked to ground-floor galleries by a dramatic, curving staircase.
Upstairs, there are offices, research and education rooms, and a library. The museum also hosts a terrace and restaurant serving a baroque-inspired menu.
The Pritzker Prize-winning Ito based the design on key aspects of the 17th-century baroque movement, which saw artists breaking away from the rigid rules imposed by the Renaissance period.
He employed curving concrete slabs to hint at this new-found sense of fluidity, and introduced a series of circular skylights to recreate the shadowy scenes common in baroque painting.