On 26 January 2012, Aurier ultimately left Lens, signing for Toulouse on a four-and-a-half-year deal. The move came after Toulouse's president hinted he would sign Aurier for a €1.5 million transfer fee. Aurier made his debut for the club two days later, in a 2–1 win over Caen. He then scored his first goal for Toulouse in a 2–1 loss against Lille on 1 April 2012. Soon after, Aurier sprained his ankle which saw him miss six matches, though he was back for the last game of the season, which saw Toulouse lose 2–0 against Ajaccio. In his first half-season at Toulouse, he made ten appearances. In his first full season at Toulouse in 2012–13, Aurier provided an assist for Wissam Ben Yedder, but was sent-off in the 84th minute for a challenge on Henri Bedimo in a 1–1 draw with Montpellier. His sending off saw him suspended for three games with one-year suspended. After serving his two games, Aurier made his return on 1 September 2012 in a 1–1 draw against Reims. He scored his first goal of the season on 11 January 2013, in a 2–2 draw against Saint-Étienne. Aurier was sidelined later on in the season after tearing a hamstring and injuring his right knee. Despite being on the sidelines for a period of time, Aurier made 28 appearances, scoring one goal. Ahead of the 2013–14 season, Aurier signed a contract extension, keeping him at Toulouse until 2018. This came after re-ignited interest in his services from clubs around Europe. Under the management of Alain Casanova, Aurier found himself playing in a 3–5–2 formation as a right-sided centre back in the three-man defence, as well as a wing-back at times. He went on to play an attacking role by assisting two goals in two different matches by the end of September. Aurier then scored his first goal of the season in a 2–1 loss against Evian on 2 November 2013. His second goal of the season came on 2 February 2014, in a 2–2 draw against Marseille. His third goal of the season came on 15 February 2014 in a 3–1 win over Lorient. He went on to score two goals in two games against Reims and Rennes.