Rawlins, 25, joined the Market Drayton as a teenager and spent six seasons with the club before leaving last summer.
Club chairman Mick Murphy said: “Ash has consistently shown season after season that he is one of the top goalkeepers, if not the number 1, playing in the Northern Premier League.
“I am absolutely delighted that he has returned to MDTFC.”
Manager Richard Brown added: “Ash is a fantastic goalkeeper and his signing sets the benchmark for the squad that we are assembling ahead of the 2021/22 season.”
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