Town will recieve £2.5M upfront, with another £500,000 depending on appearances and international recognition in addition to an as yet unspecified sell on clause.
Speaking to the Official Charlton Athletic Website, Bent said: "As soon as I met Alan Curbishley and Richard Murray (Chairman) I had no doubt whatsoever that this was the club I wanted to join.
"I have been hugely impressed by their plans for the club, both on and off the field, and I am convinced Charlton can go from strength to strength. I very much want to be part of that."
Chairman Richard Murray also said he was delighted to have secured the signing of the striker: "Darren is a player we have been seeking to sign for the last two years.
"He is exceptionally quick and a young player from whom we think the best is yet to come. We are delighted he has agreed to join us. This is the first of a number of quality signings we will make over the course of the next few weeks."