The 25-year-old made more than 100 appearances across four seasons with the Chairboys and helped the club escape relegation on the final day of last term.
However, the Antigua and Barbuda international was told his contract would not be renewed this summer and he has now penned a deal with York.
"I'm delighted to join York City and I can't wait to get started," he told the club's official website.
"I was attracted to the club by the manager, firstly, and the ambition here and also how York played against us last season."
City assistant manager Steve Torpey added: "I think we've signed Marvin at a great age. He has got experience in there as well.
"We've done our homework and we've studied him over the course of the season and even prior to that.
"We're looking forward to having a player with some excellent qualities, very good one versus one defensively and very athletic in his approach."