The 25-year-old scored three goals in six appearances on loan for the Potteries side last season.
He doesn't feature in Tigers boss Phil Brown's plans, and has been allowed to complete a £275,000 move to the Britannia Stadium.
Stoke chief executive Tony Scholes said: "He did exceptionally well for us when he was here on loan and I am delighted to have him as the club's first signing of the summer."