The 23-year-old joins the Robins from Vanarama National League North side Boston United.
He had joined the Pilgrims in the summer of 2022 from league rivals Kettering Town, where he had been since June 2021.
The Cardiff-born stopper started his career at his home-town club Cardiff City before a spell with Newport County.
In September 2017 he made a £250,000 move to Leicester City where he saved a penalty during the Foxes 2020/21 EFL Trophy campaign against Rochdale.
After being released by Leicester in the summer of 2020, he spent time with then-Northern Premier Division One Midlands outfit Belper Town, but the pandemic severely restricted his appearances.
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