The 6'3" central defender will join the club on July 1st after his deal with Birmingham City expired at the end of last season.
Aaron began his career at Eastleigh before joining Southampton in 2009 when the south coast club was in League One.
Whilst at the Saints, Aaron spent time on loan at Salisbury City where he made 15 appearances. He then joined Crystal Palace in the Championship and made six appearances.
After a short stay at Selhurst Park, the Isle of Wight born defender joined Coventry City where he made 12 appearances.
His contract at Southampton was ended by mutual consent in January before he signed a deal until the end of the season with Birmingham City where he made eight appearances for the Blues.
Manager Gary Johnson said: "We are delighted to have been able to sign Aaron, a player that I have tried to sign on a few occasions with other clubs so I am really pleased.
“Aaron is a really dominant centre half who had a good spell at Southampton and Coventry. But not only is Aaron a good player he has a good character as well which is what we need at the club.”
A video interview with Aaron can now be seen on the Yeovil Town YouTube page by clicking here.