The 32-year-old will sign a one-year deal with the option to extend it.
Ibehre started his career at Leyton Orient and has had stints at a number of clubs, including MK Dons and Stockport.
He signed for the U’s in 2013 after a successful loan spell and leaves the Essex club with 17 goals in 76 appearances, having been on loan at both Oldham and Barnsley during the 2014/15 season.
Cumbrians boss Keith Curle told the club’s official website: “I’ve said before that we have needed more attacking options and Jabo will give us a focal point.
“He’s a good, solid professional. He likes a challenge and he isn’t scared of the physical aspect of the game in any way. The ball sticks when it comes to him and he takes pride in that.
“He’ll probably tell you himself that his goal return over the years hasn’t been as high as he would have wanted, but his goal attempts and assists have been a big part of what he brings to a team.
“I’ve already told him that I don’t mind if the goal return is steady, as long as he is still being a handful and helping to create opportunities for those around him.
“We’re pleased we’ve got him and he’s another one I think the fans will enjoy having in their team.”