Keogh will move to Leinster in the close season and joins Australian scrum-half Chris Whitaker in committing to the province for next season.
Leinster Chief Executive Mick Dawson commented: "We are delighted to be able to sign a player of Stephen's calibre after successfully competing for his signature from a number of overseas clubs.
"Given the gap soon to be felt by Eric Miller's retirement, it was important that we recruited someone of an equally high standard. Stephen is a young and aggressive player who will add greater competition to the backrow."
Leinster coach Michael Cheika added: "I'm really happy that we have secured Stephen's signature. I have seen him play this year and I have been impressed with his consistently high level of performance.
"I think that he will be an excellent and valuable addition to our team and he will give us a strong, competitive backrow. He is a quality player who will compete heavily at provincial level and beyond."
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