Moving to the capital in the summer of 2007 before playing for Scotland at the World Cup, the 32-year-old front rower made 16 appearances during his debut campaign in the Black and Red.
This season Kerr's first team outings have been restricted due to injury, but the Borderer says he will be leaving Edinburgh with fond memories of his time at the club.
Kerr said: "I've enjoyed my time at Edinburgh and I've made some very good friends at the club.
"But the opportunity came up at Sale and I wanted to experience a fresh challenge. I still feel I've got a lot of rugby left in me and I'm looking forward to playing in the Premiership again."
Head coach Andy Robinson thanked Kerr for the prop's contribution in helping Edinburgh's highest ever finish in the Magners League to date - fourth spot last season - and wished him well.
Robinson said: "I would like to thank Gavin for his service for Edinburgh over the past two seasons.
"The whole management team wishes him well as he embarks on the next chapter of his career and in the future."
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