The 6`2” centre-half, who had been offered terms by Guiseley, has agreed on a two-year deal at Edgeley Park.
Palmer had been with the Lions for two seasons having joined them from North Ferriby United.
He made 77 appearances for Guiseley and was popular among supporters.
Now 25, Palmer started his career as a youngster at Barnsley before having spells with Scunthorpe United, Droylsden and Buxton.
He told County’s official website: “County is a really ambitious club and I’m looking forward to being in a strong side that’s challenging at the top end.
“My ambition is to get back to full-time football, so County is a perfect fit – I’ve been in pro clubs before, and played a few games in the League, so my aim is to get back there and make a living as a full-time professional footballer, and I can make that transition here at County with their plans to go full-time.”.
Meanwhile, Jake Kirby has joined Stockport following the end of the contract with SkyBet League Two newcomers Tranmere Rovers.
The attacking midfielder progressed through the youth system at Prenton Park and went on to make more than 100 appearances in a Rovers shirt.
He spent time on loan at Stockport in the 2015/16 season and now returns to Edgeley Park on a permanent basis.
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