The 28-year-old, who has spent most of pre-season on trial with the Glovers following his departure from Nottingham Forest, has penned a two-year contract.
"He's a good footballer and we've got a particular game that I think will suit him," boss Gary Johnson told the Western Gazette.
"In other teams he has played slightly differently on occasions, but I think I can help him get his career going.
"He's a good lad, he's experienced, he's played in the Championship and the lads respect him, which means a lot."
Former Bristol City midfielder Marvin Elliott remains on trial with the club.