The 23-year-old defender, released by Huddersfield at the end of the season, becomes Pools’ fifth summer signing.
Carroll was signed by Huddersfield for an undisclosed fee from Irish side St Patrick’s in April 2013.
He struggled to hold down a regular place in Huddersfield’s first-team squad and was restricted to just nine appearances.
The left-back had loan spells at Bury and Partick Thistle, for whom he made 13 appearances last season.
Rakish Bingham, Carl Magnay, Rhys Oates and Harry Worley have all been added to Ronnie Moore’s squad since the end of last season.