After making an approach for the Tigers' reserves star last week, Harriers boss Jan Molby has announced Keates has agreed terms to join his side.
"I am delighted that Dean has agreed to sign for us. He is a player that has got a lot of experience of playing at a higher level and that was one of the reasons we have signed him. He's a tough tackler but has an eye for a pass.
"He's a player I have a lot of time for. Not only is he a good player but he is a great character to have around the place.
"He will add bite and creativity to our midfield and that something I think we need at the moment."
He is to sign a deal until the end of the 2004/05 season. The free transfer could be concluded in time for the 25-year-old midfielder to play for his new side against Cheltenham tomorrow evening.
Keates made 50 league appearances in a Hull City shirt with 4 goals to his name, all of which were scored last season. Previously he made over 150 league appearances for his home-town club Walsall where he came through the youth ranks before moving to Boothferry Park in August 2002 on a free transfer.