The 23-year-old midfielder said boss Gary Johnson was a huge factor in his decision to join the Robins, who will be aiming to bounce straight back to League Two following their relegation last season.
"Gary invited me around to his house for a chat and I have never met anyone so professional," Pell said.
"He showed me a video of what he expects and told me what a massive time in my career this is. As soon as I knew what he was all about, I knew I wanted to play for him.
"His wife put on a lovely spread and I managed to spill coffee all over their cream rug, so it wasn't the best of starts, but thankfully he still wanted to sign me after that!
"After we'd both cleaned that up and I left the house, I knew I was going to sign for Cheltenham, despite having interest from Football League and other National League clubs."
Pell left AFC Wimbledon midway through last season in search of first team football at Eastleigh, who missed out to Grimsby Town in the Conference play-off semi-finals.
"I could have stayed at Wimbledon and seen out my deal, but I'd fallen out of favour and I wanted to be somewhere I'd be playing because I love football," he said.
"I don't want to be in the Conference for long and I want to get back in the Football League as soon as possible, so it's all about helping Cheltenham bounce back at the first attempt."
Pell believes the top eight clubs at National League level are on a par with the bottom half of League Two.
"I think from my personal experience, it's all about the mental side, going away and playing in front of 500 people on a cold Tuesday night," he said.
"You have to have the character to pull through games like that, get the job done and leave with three points."
Pell will be moving from Essex to the Cheltenham are with his partner and young daughter.
"I spent too much time on the motorway last season and it's not ideal so it'll be great to settle in Cheltenham, close to the training ground and my missus is from Bristol so it's good for her too," he said.
"I have not been this excited about a move for a long time and hopefully some Cheltenham fans will remember be from past matches, when I feel I have done well against them.
"I will bring 100 per cent commitment and I think of myself as a good athlete, who gets up and down the pitch and contributes goals too. I am 23 now with plenty of games under my belt and I want to be a leader and I want to help this club achieve success.
"I've had a little break and I can't wait to get started now, locking myself away and concentrating purely on football, which is what I did at Hereford and it led to my best performances so far."
Pell also confirmed Cheltenham made an approach to sign him when he left Hereford, but he chose Wimbledon because his mother had been diagnosed with multiple sclerosis.
"At that time I wanted to be close to home, but she's doing well and it's all under control so I am looking forward to starting at Cheltenham because this is a massive deal for me and my career," he said.