Carroll, 25, scored seven goals in 27 appearances for the Reds as they missed out on promotion from the NPL West Division.
He said: “I’m absolutely delighted to sign for the club, I’m looking forward to playing under Mark and the coaching staff.
“I already know a few of the lads there and the direction that the club is going is a massive plus.
“I’ve played at Giant Axe a few times now and I’ve enjoyed the atmosphere and the ground itself every time I’ve been.”
The former Barrow and Clitheroe man has signed a one-year deal to become Lancaster’s first signing of the summer.
Manager Mark Fell added: “We’re really pleased to get it done, and Brad’s one of a couple of key targets this summer.
“We’ve identified the areas we want to strengthen and improve and Brad was at the top of the list, so the fact we’ve managed to get it over the line, especially since he’s had offers from elsewhere, says a lot about the direction we’re going in.
“We’re really pleased that we’ve got him on board.”
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