The 22-year-old right-back has become the first player to leave Villa this summer after agreeing a four-year contract with the Sky Blues.
Villa are thought to have negotiated a significant sell-on clause as part of his exit.
Kesler-Hayden, a product of the club’s academy, had been in high demand after an impressive season on loan at Preston in the Championship.
But it is Frank Lampard’s Sky Blues who have won the race for the 2021 FA Youth Cup winner.
Kesler-Hayden will leave having made just four substitute first-team appearances for Villa, all of them coming toward the end of the 2023-24 season.
He previously had loan spells at Swindon, MK Dons, Huddersfield and Plymouth.
Villa have also been in talks with Hull over the sale of another young star, forward Louie Barry, though that deal is believed to be at risk of collapse.
Speaking after the move was confirmed, Kesler-Hayden said: “I’m absolutely buzzing to be here. It seems like the perfect move for me and the next step in my career.
“Words can’t describe how happy I am to be at this club and how excited I am to play in front of the supporters.
“I want to show you what I can do, how I can play, entertain you and hopefully get this club back where it needs to be.”