The 26-year-old full back joins the Whites from Vanarama National League South side Chippenham Town.
He had been with the Bluebirds since August 2022 after arriving from Hemel Hempstead Town.
He had joined the Crusaders in September 2021 from Sutton United, where he had been since September 2020, having been with Dover Athletic, who he had joined in July 2019 following a successful trial.
He started his career with Maidstone United before transferring to Wolverhampton Wanderers in 2017.
He then had loan spells at Portsmouth, AFC Telford United, Kilmarnock and Spanish Segunda Division B side FC Jumila after his release from Molineux.
The former England under-18 Schoolboys player also played in the League of Ireland Premier Division with Waterford FC.
Salisbury manager Brian Dutton told his club’s website: “Having been speaking with Aaron throughout the summer, I’m delighted to secure his signature.
“Aaron has impressed me with his willingness to show what he can offer the group and his debut games in pre-season were excellent. He is a forward-thinking full back with an excellent pedigree and I’m sure he will excite the fans with his marauding runs and end product. Simmo has fitted well into the squad and is a great addition to the group”.
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