McGurk, released by Tranmere at the end of last season, has signed a two-year contract at the Pirelli Stadium.
The 24-year-old spent part of the summer training with Sky Bet Championship side Birmingham and Albion manager Gary Rowett sees the acquisition of the former Aston Villa trainee as something of a coup.
"Adam is a player we have been keen on for a while and he has the attributes to add real quality to the squad," said Rowett.
"He's an exciting player and at an age where he can keep on improving. I'm not surprised that he received attention from clubs in higher divisions and I am delighted that we have been able to bring him to Burton."
McGurk hopes he can help Burton improve on their appearance in the League Two play-offs last season.
"The manager has shown his desire to bring me to the club all summer and knowing that Burton were so keen to bring me in was certainly a factor in my decision," said McGurk.
"Burton were perhaps unlucky not to get promotion last season and I am looking forward to getting to know the lads in the next few days and helping the club push on this year."
McGurk had a brief spell at non-league Hednesford Town in 2010 after leaving Villa. Having impressed for the Pitmen, he earned a move to Tranmere where he enjoyed a productive three-year stint scoring 12 goals in 55 starts.