Yates, 22, has spent pre-season with the club as a trialist, and has now been signed by head coach Tom Shaw for the upcoming campaign.
The former Derby County, AFC Telford United, Hereford United and Gloucester City man featured in the club's friendlies against Bottesford Town and Lincoln City.
Shaw said: "I have followed Matt‘s progress closely over the last few years. He is a really talented goalkeeper who has enjoyed some great experiences. He has played in the highest level of under 23s football, received international recognition, and during his time as a young professional at Derby, he has built his reputation with three successful loan moves at the level above ourselves, with three very well established football clubs.
"He has impressed during pre-season with his attitude, application and performance and we can hopefully help him at this point in his career where he wants to play matches, learn, develop and progress. He has good all-round attributes, but his ability with his distribution is a real standout and will help us execute our preferred style at the right times."
Yates' father Dean made 400 football league appearances for the likes of Notts County, Derby and Watford including time in the Premier League with the Rams. On signing for the club, just over a week out from the season start, he said: "I’m delighted to have signed here. I’ve been in training for the past month or so and have really enjoyed it. The gaffer and players have made me feel really welcome and I can’t wait to get started. I feel it’s a great opportunity for myself and hope to help the team progress up the table."
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