The Zambian, 22, has penned terms at the club after impressing on trial during their last three pre-season friendlies.
Chimalilo came through the York-based i2i Football Academy and was signed by Scarborough Athletic, but injuries and Covid-19 saw him fail to make an appearance for The Seadogs.
More recently, he played at Tadcaster Albion last season, but will now link up with the Lions following their relegation from the National League North.
"I set out to make an impact by coming in and trying to do my best," he said. "I knew Guiseley coach Martin Foster from my time at Tadcaster and he recommended me to Guiseley.
“He told me that I would enjoy it at Guiseley, and after only a few games I know that I will.
"I was immediately made welcome by everyone at the club, the players, the staff, the fans and everyone who works for the club.
“I have loved it since I came to Guiseley, it is a good environment to be in, the best place to enjoy your football.”
Photo Credit: Guiseley
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