The 24-year-old Norwich academy graduate, who also enjoyed a spell with Newport, had been with the Imps for three years, racking up 118 appearances during his time.
Head of recruitment at Carlisle Lee Dykes told the club’s official website they were delighted to finally get their man.
He said: “He’s a player we tried to get a couple of times last season but Lincoln City felt they couldn’t let him go because of his value to them.
“We’ve had to bide our time but that has allowed us to keep an eye on him and to get to know more about him.
“It’s a deal we’ve worked hard to get over the line and it’s one we feel will have a positive impact, particularly with the type of player and character he is.”