The 31-year old right-back becomes the ninth signing made by the new management team of Michael Morton and Simon Collins.
Hardy has a vast amount of experience under his belt having featured for Huddersfield Town, Harrogate Town, Halifax Town, Guiseley and most recently Farsley Celtic.
Hardy made fifteen appearances for Huddersfield's first-team picking up many plaudits along the way before moving on to play 75 times for Halifax Town.
"I am absolutely delighted to have signed for Tadcaster Albion" said Hardy.
"As soon as Mikey rang me during the off season I had to listen to what he had to say.
We had a good chat and as soon as I came away from that I was really keen to get on board.
He really sold the club to me and his philosophy on playing exactly how I like to play the game.
The group he is putting together is really exciting and it ticked all the boxes for me.
I'm just really keen to get going now and I'm looking forward to the season ahead."
Assistant Manager Simon Collins feels that Hardy's presence alone is a brilliant addition to the squad.
"Aaron is an immense signing for the club; consistent and quality on the pitch as well as being a great character to have in the changing rooms."
Updated 17:40 - 22 Jun 2017 by Jay Taylor