The former Fulham defender will join Chelsea on July 1, having agreed a four-year contract with the Blues.
Adarabioyo said: "I’m here to win. I want to win. It’s as simple as that really. I just want to keep working and pushing the team and the club in the direction we want to go in. I’m excited to get going."
The former Manchester City junior is reunited with several ex-teammates.
"I spent two or three years with Raz (Sterling) and Willy (Caballero), and I spent most of my youth journey with Cole (Palmer)," he explained.
"Before confirming the move, I gave Raz and Cole a call and they had nothing but positive things to say about the club and the project, and how excited they were that I was coming to the club.
"Cole is younger than me but I remember him from younger days alongside a few of the other boys that I’ve met along the way like Ben Chilwell - Chilly and I were both captains in the FA Youth Cup semi-finals. I also know Trevoh Chalobah and Armando Broja because he spent time at Fulham."