Hall, 30, was previously with the Grove before leaving to join Leek Town in 2012, where he made nearly 200 appearances for the club across two spells, as well as captaining them to the play-off final in 2015.
He also had a spell at Nantwich Town, where he captained the Dabbers to an FA Trophy Semi-final.
Manager Ryan Austin said: "I'm pleased to bring Sam Hall to the club.
"He brings a wealth of experience to the club and, is a proven winner and leader at this level.
"He will add extra competition to our squad, and I'm looking forward to working together."
Kidsgrove kick-off their BetVictor Northern Premier S/East campaign with a home game against Stocksbridge Park Steels.