He passed a medical at Bodymoor Heath and has agreed a two-year contract.
The club's official Twitter account confirmed the news by posting a picture of him in his new Villa tracksuit.
Cole has been dogged by injury in recent years following a career playing for clubs including Lille, Chelsea and Liverpool.
TWEET: Joe Cole at Bodymoor Heath having completed a medical this morning. #avfc pic.twitter.com/0e8ALLoPJl
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