The 25-year-old, one of a number of players offloaded by the Seasiders following last season’s relegation, has agreed terms on a two-year deal with the Cod Army having been on trial there over the summer.
He spent time on loan with Fleetwood in 2014, but a serious injury restricted him to just one appearance, and last term his six goals in 36 appearances at Shrewsbury helped the Shropshire side achieve promotion.
Cod Army boss Graham Alexander told the club’s official website: “We know Bobby well, we had him on loan two seasons ago and we have played against him as well.
“We know of Bobby’s qualities and we are really pleased to get him on board. We want to add goals to the team and Bobby will certainly provide that.”