have you tried letting him fall asleep in your bed than taking him in his own not right away give him some time to get in a rather deep sleep i did this with my son and after a while he didn't want to sleep with me any more hope this was helpful

If he does this after you go to bed, he feels afraid, especially because children feel this eerie scilence when you go to bed. It's just an odd thing that they do.
~Jacob

Try a bedtime story!

I liked the experts opinion and I strongly advise what he says. Do not give up or give in, or you will have a problem with this for a long time. My boyfriends son was allowed to sleep with his dad, even after we got together and he didn't start sleeping on his own till he was 8. And at that point  he was only sleeping in the living room, which was closer to our room than his room was. So do what you've got to do and don't only go halfway, it's better for both of you.

I do not recommend "Ferberizing" your child.  Ever!  We had the same issue with our youngest son when he was 2 and it became a huge problem.  You have a lot better chance of success because your son is older.  You can reason with him!  Before bed, explain to him that if mom and dad aren't getting enough sleep, they're cranky all day.  Mom/Dad have to go to work and it's important that they be able to concentrate, and if they're too tired they'll get in trouble from their boss.  Agree to walk your child back to bed, tell him you love him, tuck him in and go right back to your own bed.  If he comes in again right after, tell him you've already put him back in bed and he can go back to bed by himself.  

It may be that he likes being cuddled up with you.  Try giving him a pillow to snuggle, or a stuffed animal to sleep with.  Even buy him a special "bedtime only" animal, or choose something he already has and loves.  

I know it's exhausting, but at that age it won't take very long until he knows you're not getting up with him all night, and he's not getting his way.  You could also institute a reward system (think back to potty training) such as, "If you stay in your room all night then you get an extra hour of TV/Computer/Playing outside/etc as a reward."  Make it something he'll really want!  

Something that can help with the sleep is for you and dad to trade off.  If you get up with him tonight, tomorrow it's dad's turn.  That way you both get a night of sleep that's only mildly interrupted.  

Above all, remember this:  He's only young once, and it goes so fast.  Soon enough he's not even going to want to hug you, much less climb into your bed.