Joyce, previously a Blues player between 2005 and 2009, was skipper at Stanley and had been given the chance to prolong his stay at the Store First Stadium.
However, the 27-year-old opted to return to the Cumbrians on a two-year deal – agreed in principle and to be signed when Keith Curle’s men begin pre-season training.
“We’re delighted that Luke has joined us. He’s a player who is brave, in a different sense, in that he wants to get on the ball and get other players involved in the game,” Curle told the club’s official website.
“He knows when and when not to try to play football and he’s a player who can dictate the pace with his positioning and with his use of the ball.
“He’s one the fans will know, from his first spell here, but I would say that he left this club as a boy and he’s coming back to us as a man. He’s another who knows this level and how to bring the best out of those around him.
“We’re obviously very pleased with the work we’ve done this week,” Curle added. “With all three signings we can see characteristics and attributes of players who have the potential to be our team captain. It’s good to have that in the dressing room.
“They also bring a lot of experience with them as we look to get a good balance between players who have games under their belt and the youthful energy which has served the club well.
“I look at this recruitment process almost as if it’s like doing a jigsaw. You start with the four corner pieces – the key pieces – and then build on from there. This week has seen us put three of those corner pieces in place.”
Joyce leaves Accrington after making 280 appearances for the club, scoring 10 goals.
Stanley boss John Coleman told his club’s website: “It’s disappointing to lose Luke as he’s been one of the best players we’ve had for a long time.
“The most disappointing thing is that we believed he would sign his new contract but that’s football and in football life goes on. I told him it was pointless him staying if he wasn’t sure. No good for us and no good for him.
“He’s been a good and consistent performer for us so you have to take your hat off to him for that and applaud all that he has done for the club, who in turn have looked after him over the years.
“We wish him all the best for the future with Carlisle; apart from in the games he plays against us, obviously!”