The 29-year-old, who scored one goal in 28 appearances for the Londoners last season, previously had spells at Bournemouth and Burnley.
Speaking to the club’s official website, Bartley said: “I’m delighted to sign for Hibs and I’m really excited about what the club can achieve.
“There is a positive vibe around the place ahead of the new season and I’ve been really impressed with everything I’ve seen – from the set-up at the training centre to the manager’s vision for the future.
“I’ve completely bought into that vision and I’m looking forward to playing my part in his plans to drive the club forward and earn promotion.
“This is the next chapter in my career and I will be aiming to use the experience I’ve got to help the team and to make sure it’s a season to remember.”
Head coach Alan Stubbs said: “We’re delighted to be able to add Marvin to the squad. His experience, energy and attributes will benefit the team.
“We were looking to bring in another midfielder and Marvin fits the bill. He will be an important signing for us.”