The 22-year-old made seven appearances for the Cumbrians last season and has now joined the League One club on a two-year contract for an undisclosed fee.
"I'm absolutely delighted to have added Richard to the squad," manager John Ward told the club's official website.
"I think he will be an excellent signing for us and it is particularly good to sign a player we know as it means there won't be any bedding period."