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Charlie Lee has linked up with former Gills team-mate Chris Whelpdale at Stevenage.
The pair both joined the Gills permanently in the summer of 2011 after initially spending a month at the club on loan from Peterborough.
Lee was released by Gills boss Peter Taylor at the end of last season.
Stevenage, who were relegated from League 1 last season, announced the signing of Whelpdale at the end of June.
Lee nearly joined Southend United last summer, after being transfer listed by previous boss Martin Allen, but a deal couldn't be reached.
The 27-year-old ended up playing 33 games for the Gills during the 2013/14 campaign, taking his appearance tally for the club to 111 in all competitions.
Both he and Whelpdale helped the Gills to promotion in League 2 in 2013.