The 25-year-old had joined Diamonds in June 2021 from Northern Premier League Division One Midlands side Corby Town.
He made just under 100 appearances for the Steelmen after joining from King`s Lynn Town in the summer of 2017.
Warburton, who can also play out wide on the left wing, was formerly with Nuneaton Borough after starting out at Northampton Town as a youngster.
Manager Gary Setchell told his club’s website: "Sam played for me at King`s Lynn in a side which went on to be very successful. I've known him for a long time and know the qualities he can bring both defensively and going forward down our left side.
“He is a great signing, who will fit in to the side really well".
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