The 6-foot-4, 223-pound goalie has played in 183 NHL games in his career with Vancouver, Florida, Phoenix, Boston and Ottawa.
He has a 74-75-25 career mark with six shutouts and a 2.76 goals-against average.
Stars General Manager Joe Nieuwendyk says the Stars expect Auld's size and ability to make him an excellent goaltender for Dallas.
The Cold Lake, Alberta, native was originally the Florida Panthers' second-round pick, 40th overall, in the 1999 Entry Draft.
Auld's acquisition comes just one day after the Stars lost out on the competition to sign Swedish goaltender Jonas Gustavsson. The highly touted goalie signed a contract with Toronto forcing Dallas to make a move for Auld.