The 25-year-old spent a brief loan spell at the club from Swindon Town during the first half of last season.
However, he has now penned a permanent deal after turning down fresh terms at the County Ground.
"Getting the opportunity to bring him back has been absolutely top drawer and we're delighted that everything is now agreed," manager Graham Kavanagh told the club's official website.
"He's a leader and he has all of the credentials to make him a top centre-half. The club have backed me yet again and he agreed to everything fairly quickly. I think it's a great move for all of us."
Carlisle begin their League Two campaign at home to Luton on August 9.