Manager Graham Drury said: "Joe played in three of the four games back in April and really impressed not just myself and management but also the players.
"He's mixed in with this group and really showed that he will bring even more quality to this team. Joe can also play right-back and will give us cover in that area as and when needed.
"Joe's dad was a very good player for Stamford and Peterborough United back in the day. I know Joe will bring just as much quality as his dad, Garry, did.
"Joe played at step 4 for Yaxley last season and was the stand-out player, he cant wait to get stuck in and show the Stamford fans his talent.
"I'm chuffed to get this deal done."
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