The news came minutes after the team waived center Hassan Whiteside.
Terms of Brooks' contract were not disclosed, but it is reportedly a two-year deal that averages 3.3 million per season.
Were really excited about the prospect of Aaron joining the team, said Petrie. The fact that hes chosen to play for the Kings makes us feel good about what hell be able to provide to us on the court. Aarons another young player who brings a lot of speed, quickness, experience and scoring ability.
During his senior season in Eugene, Brooks averaged 17.7 points, 4.3 rebounds, and 4.3 assists per game, led the Ducks to the Elite 8, and was named an AP Third-Team All-American.
As a rookie with the Rockets, Brooks appeared in 51 games, averaging 5.2 points in just under 12 minutes a contest.
Those numbers improved significantly in his second season, where Brooks averaged 11.2 points and three assists in 25 minutes per game.
In year three, Brooks put it all together. The diminutive point guard started all 82 games for Houston, registering 19.6 points and 5.3 assists per game.
Following his breakout season, Brooks was named the NBA's Most Improved Player.
However, his time in Houston didn't last long. Just 34 games into the 2010-2011 season, Brooks was traded to the Phoenix Suns for Goran Dragic and a 2011 first-round draft pick.
In 25 games with the Suns (only five starts), Brooks averaged 9.6 points and 4.2 assists in a backup role to Steve Nash.
During the NBA Lockout, Brooks took his game to China and did not return once a new CBA was orchestrated. He remained overseas and led the Guandong Southern Tigers of the China Basketball Association to the Finals while leading the team in points (22.3), assists (4.8) and steals (1.9) per game this past season.