Imps manager Chris Sutton told BBC Lincolnshire: "I'm really pleased we got him, he covers a lot of positions.
"He got promoted with Notts County last year and hopefully that winning mentality will rub off here."
The left-back, who started his career at Tottenham in 1994, played 207 games for Ipswich in an eight-year spell at the Blues.
He then went on to play at Birmingham City, Wolves, Leeds and Leicester City.
Source: BBC Sport
Source: BBC Sport