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The former Manchester United trainee was a shining light for the Robins during the 2015/16 season, finishing second highest scorer in the division with 24 goals - one strike behind Wigan's Will Grigg.
Ajose was linked with a move away from the Country Ground as soon as the season came to an end, with club Chairman Lee Power admitting the striker would be sold if Swindon's valuation was met by a potential suitor.
Charlton's interest was made public earlier in the month, with a bid of £500,000 believed to have been put on the table.
Today the club have officially confirmed a deal has been struck, though no fee has yet been disclosed.
BREAKING: Nicky Ajose has agreed terms on a permanent move to Charlton Athletic #STFC pic.twitter.com/V7ATTl5WHR
— Swindon Town FC (@Official_STFC) June 27, 2016
The move has come as a surprise to some fans, with confusion surrounding the striker's ambition after leaving the Robins to join a team in the same division.
Speaking of the move, Ajose told Charlton's official website: "My aspirations for next season were to be playing in the Championship, but when a club like Charlton comes calling then I felt it was an opportunity I could not turn down.
"I'm delighted to have it all signed so early and really looking forward to getting started."
DONE DEAL! Nicky Ajose has signed a three-year deal in SE7 and becomes Manager Russell Slade's third signing #cafc pic.twitter.com/vwV7zm4qMf
— Charlton Athletic FC (@CAFCofficial) June 27, 2016
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