The 35-year-old effectively replaces another veteran, Keith Lowe, who left for league rivals Hednesford Town last week.
Daly joins the Pics from league rivals Ilkeston Town.
He had joined the Robins in August 2022 from Vanarama National League North side Kettering Town.
He had only joined the Poppies in March 2022 from Nuneaton Borough.
He had arrived at Boro in October 2021 from league rivals Stourbridge where he had been since July 2021 after joining from National League side Barnet.
He had joined the Bees in January 2021 for an undisclosed fee from National League North side Gloucester City.
He first joined National League club Solihull Moors in 2008 from Redditch United, having previously been at Birmingham City as a youngster.
He joined Leamington in 2010, where in four seasons he made almost 200 appearances, scoring 20 goals.
He helped the Brakes to win the Southern League Premier title in 2013. He returned to Moors for the start of the 2014/15 campaign and after a few weeks at Kidderminster Harriers at the start of the 2017/18 season returned to the club again before switching to Gloucester in November 2019.
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