<p>The auxiliary field sigma model (AFSM) has recently been constructed by Ferko and Smith as deformations of the principal chiral model by including auxiliary fields and the potential term given by an arbitrary univariate function. This AFSM provides an infinite family of integrable sigma models including the original <InlineEquation ID="IEq1"> <InlineMediaObject> <ImageObject Color="BlackWhite" FileRef="13130_2025_27081_Article_IEq1.gif" Format="GIF" Height="17" Rendition="HTML" Resolution="72" Type="Linedraw" Width="27" /> </InlineMediaObject> <EquationSource Format="MATHML"><math display="inline"> <mi>T</mi> <mover accent="true"> <mi>T</mi> <mo stretchy="true">¯</mo> </mover> </math></EquationSource> <EquationSource Format="TEX">\( T\overline{T} \)</EquationSource> </InlineEquation>-deformation and the root <InlineEquation ID="IEq2"> <InlineMediaObject> <ImageObject Color="BlackWhite" FileRef="13130_2025_27081_Article_IEq1.gif" Format="GIF" Height="17" Rendition="HTML" Resolution="72" Type="Linedraw" Width="27" /> </InlineMediaObject> <EquationSource Format="MATHML"><math display="inline"> <mi>T</mi> <mover accent="true"> <mi>T</mi> <mo stretchy="true">¯</mo> </mover> </math></EquationSource> <EquationSource Format="TEX">\( T\overline{T} \)</EquationSource> </InlineEquation>-deformation. In this paper, we propose a 4D Chern-Simons (CS) theory with auxiliary fields. Then the AFSM is derived from this CS theory with the twist function for the principal chiral model by imposing appropriate boundary conditions for the gauge field and auxiliary fields. We also derive the AFSM with the Wess-Zumino term by deforming the twist function and modifying the boundary conditions.</p>