Under the agreement, Wates Partnerships will take responsibility for securing planning permission for both the stadium works and the housing scheme.
A planning application is expected to be submitted next year.
The sale of the new homes planned should generate sufficient value to enable vital advancements to the club to be realised, helping to provide a sustainable future for Aldershot Town Football Club.
Craig Horn, director for Wates Partnerships, said: “This is an important project for the Partnerships team at Wates and the result of many months of hard work.
“We’re proud to be working with Aldershot Town FC on this project. We are very much looking forward to progressing plans to provide new club facilities and new homes, which will secure the football clubs’ future as a real community asset.”