His second appearance came as a substitute in the 6-0 drubbing of Mansfield, in total he made 21 starts for the club and came off the bench 36 times.
He managed three goals in that period.
He teams up with United's football in the community officer Lee Turnbull at Holker Street, and follows Steve Ridley and Sean Singh who recently completed moves to the Bluebirds after being released by United.
Manager Brian Laws said: "Scott was disappointed with the lack of first team opportunities available to him so we have let him move on.
"I'd like to thank him for his efforts while at Scunthorpe United and would like to wish him well for the future."