The 31-year-old has left Walsall and will join the cinch Championship side subject to cross-border clearance.
Taylor played under McInnes in two spells at Pittodrie, either side of a stint at Northampton and has been re-united with his old boss once again and admitted the familiar face played a part in the deal.
“The manager was naturally a huge factor in me coming here. I’ve had two spells playing under him so it was an easy decision to make.”
The central defender has signed a deal until the summer of 2023, McInnes’ second signing after recruiting Daniel Mackay on loan from Hibs.
“Everything about Killie is exciting at the moment, especially the challenge to gain promotion back to the Premiership by winning the league.”