The 30-year-old ex-Leicester City and Aston Villa player who had a successful loan spell at Walsall's Bescot Stadium towards the back end of last season becomes Pilgrims boss Steve Evans's sixth summer arrival - signing a two-year deal at York Street.
Evans said: “I am overjoyed with the signing of Julian. I have had long discussions with him over the last few days and it is fantastic to have him onboard.
“I’m especially delighted to have signed Julian considering the quality of teams within the Football League who wished to acquire his services.
"I’m certain that Julian will be a big hit with our fans and a big factor in his decision to sign for Boston was his desire to play for his hometown club.”