The Dutch centre-half, 25, had a spell on loan at Kingsmeadow last season and has now agreed a permanent switch after agreeing to terminate his Bees contract.
"Pim ticks every box for us," Dons boss Terry Brown told the club website.
"He is a left-sided centre-back who is big, strong, and has a great attitude.
"I know that we made him feel comfortable here and the fans took to him straight away. The first header that he won against Dagenham, the ball went about 40 yards and straight away you could tell the fans here would appreciate that kind of effort.
"Pim wants to play for a club that really wants him and I think that is a big factor in him coming here. He is a fantastic signing for us and he has chosen to come here even though a League One club were interested in him."