Jarvis joined the Gulls on loan from Walsall in March, scoring twice from the substitutes' bench and winning a starting place for both legs of the League Two play-off semi-final defeat to Cheltenham.
As a result, manager Martin Ling has moved quickly to offer the 25-year-old a permanent stay at Plainmoor following his subsequent release by the Saddlers.
Jarvis came through the ranks to start his career at Norwich and the ex-Leyton Orient forward has represented a host of sides on loan including Colchester, Kilmarnock and Notts County.
