Both versions are grammatical, and the difference between them is pretty subtle. (It's hard for me to imagine a situation where one would be correct, but the other not.)
To my ear, as I told you refers to one or more specific instances of my telling you. I would use it if I were emphasizing that I had, for instance, upheld my responsibility to inform you of something.
The perfect tense, as I have told you, on the other hand, is used to allude to the consequences or implications of past action, and doesn't require me to have a particular time in mind. In fact, it would be ungrammatical to say, #as I have told you yesterday, ....
I would use as I have told you if I were emphasizing that you should already know the thing I told you.