The 30-year-old moved to Sandy Park after the end of his nine-month ban following the Bath drug tests saga in 2009
However, Higgins left the Chiefs in the summer after making just four Premiership appearances.
The former Bath winger has now signed a 12-month deal at the Sharks after impressing during a two-week trial at the club.
"I'm very excited to be joining Sale Sharks," he said. "The boys have been working hard, and it's been a case of getting up to speed with everyone else."
Sharks director of rugby Steve Diamond believes Higgins, who can also play in the centres, will provide vital experience and cover during the World Cup.
"We knew we had a shortfall over the World Cup period," Diamond told the club's official site. "Andrew wants to start his career again, and we thought this would be a good opportunity for him. He's impressed in training and we'll see where he can get to."
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