The 29 year old's Rams contract was terminated this week leaving him free to sign with Derek McInnes' squad. He had been on loan with the Robins since November, making nine appearances.
Speaking to BBC Radio Bristol Pearson expressed his delight at the move, "It's nice to come to a club and feel wanted. I felt this was the right club for me at this moment in time."
Pearson started his career with Motherwell before signing for Scottish Premier League side Celtic in 2003. He joined Derby County three years later, spending some time on loan with Stoke City.
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