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He had been on trial at League Two strugglers Grimsby Town, but has now dropped down to the Conference.
The 25-year-old has signed a 12-month contract at Aggborough, becoming the fourth former Scunthorpe player to join the club this year.
He joins former Iron captain Mark Jackson, Gareth Sheldon and Russell Penn.
Harriers boss Stuart Watkiss said: "I think this is a great signing for us, Wayne has played over 150 first team games for Scunthorpe and he's clearly a good breed of player.
"He may be a little behind in his fitness but as pre-season intensifies over the next week or two it shouldn't be long until he's up to speed with the rest of the lads.
"He's a player that covers a lot of ground on the pitch, and he'll also provide good back-up in the right-back position."