Hayden signed for the relegated Canaries last week.
"I've had fantastic memories at the club," he told Chronicle Live. "Ups and downs throughout it obviously but overall it was a fantastic six years. I've made memories that will last a lifetime for me but it was definitely time in my career to take a different path.
"Football is all about timing and it's time for me to move on and experience a new challenge.
"The opportunity to go to a club like Norwich with a great structure and a sporting director that I know well in Stuart Webber, once I heard they were interested it was an easy deal to make."