The 26-year-old has graduated through the ranks at The Recreation Ground and has made 58 first-team appearances.
Hawkins said: “I first came to Bath Rugby as an under-13 so I’ve been here a few years now and, in many ways, it was a hard decision to consider going elsewhere.
“But once Leicester Tigers made it known they were interested I could see it was a great opportunity for me and I’m really looking forward to getting into the pre-season with the club.”
Born in Taunton, Hawkins attended Millfield School and Colston’s in Bristol before joining Bath Rugby. He gained England representative honours at under-16, under-19 and under-21 level, and made his Bath debut during the 2003/04 season.
Leicester Tigers head coach Richard Cockerill said: “Rob has played in a very competitive position at Bath and I’m sure he will fit in well here.
“He is up for the challenge of establishing himself at Leicester and we look forward to welcoming him for pre-season training this summer.”
