The 21-year-old centre-back had spells on loan at Brentford and Peterborough last year, after helping Cardiff to promotion to the Premier League in 2012/13.
He will be returning to familiar territory at Huish Park, where his dad, Richard Nugent used to play. The connection is something manager Gary Johnson was well aware of.
"I know him and the family very well. His dad played for me at Kettering and he also played for Yeovil. I've known Richard and the family for a long time," Johnson told Yeovil's official website.
"I can remember Ben as a 10-year-old smashing up my living room playing football as a little kid. I've always been interested in his career.
"He had a fantastic year at Cardiff under Malky Mackay in the Championship when they got promoted. He's 6ft 5ins, he's left-footed and he's a good player."