The 28-year-old, who has penned a one-year deal with Gary Johnson’s side, spent the second half of this season with the Dragons.
“When I met Kyle I realised how hungry he is to get into the Football League and he is looking for a manager and a club to give him that opportunity,” Johnson told the club’s official website.
“I’ve seen games he’s played in and he’s a leader. He’s been captain at previous clubs and is a strong player and a big character so I am pleased he’s signed with us.
“He is a good passer, but he certainly doesn’t mind a tackle and he has the ability to dictate games with his positional sense and midfield prowess.
“He can score goals too and I know he’ll chip in, but I know he can score more goals and hopefully we’ll see that next season.”