Brookes has played 73 times for Saints since joining them from Newcastle three years ago.
He appeared 81 times during two spells with the Falcons between 2009 and 2015, and also spent a two-year period at Leicester Tigers.
“Kieran is a proven operator at Premiership and international level over a number of years”, Dai Young, Wasps Director of Rugby said.
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“He is a good addition to our squad, and adds to a pool of props which mixes experience with some fast-developing younger players.
“As we all know, having a solid set-piece is a crucial component in a successful team. Kieran’s arrival will further boost us in this area, and he also offers plenty around the park both with ball in hand and defensively.”
Brookes meanwhile was glad to have sorted out his club future.
“I am looking forward to joining Wasps and working with Dai and the staff there.
“There are also plenty of players I already have experience of playing with for England.
“Wasps have done well in recent seasons and hopefully I can play a part as the club tries to push on to the next level.
“I’ve enjoyed my time at Saints, and would like to thank the players, staff and fans for all their support.
It’s welcome news after reports that Wasps new forwards coach Danny Wilson is on the verge of opting to join Scotland, instead of taking up his role with the Coventry-based club.
Wilson, who has agreed a two-year deal with Wasps, has been reportedly approached by the SRU to join up Gregor Townsend’s backroom team.
Scotland are on the hunt for a replacement for Dan McFarland, who has left to take over as head coach at Ulster.
Wilson spent three years at Cardiff Blues and his stock rose dramatically following an impressive finish to the season by the Cardiff Blues which saw them clinch the European Rugby Challenge Cup last month in Bilbao.
Wilson’s move to Wasps was announced back in December with Wasps Director of Rugby Dai Young saying at the time “While I have only worked with Danny for a limited time when he was part of the Academy set-up at Cardiff Blues, I know he has gone on to forge a very strong reputation as a quality coach who is highly regarded within the game, having made a big impact with the teams he’s worked with.
Wilson meanwhile had spoken enthusiastically about working alongside Young.
“The opportunity to work with Dai was one of the big attractions of moving to Wasps. He is a very experienced director of rugby and I could see the quality of his coaching during his time at Cardiff Blues. His record with Wasps goes before him, having taken the squad from 11th place to the Premiership Final during his time at the club.
“I’m looking forward to learning from him as a coach next season and to being part of the infrastructure Wasps are creating. The ambition of the club is clear to see. They have a talented group of players who play a really exciting style of rugby that attracts big crowds. It will be exciting to be part of.”
But it appears the opportunity to work at international level and a World Cup on the horizon, has prompted a change of heart by Wilson.