He is moving away from the National League club after 100 consecutive games in goal.
The 24-year-old is the Imps’ fourth signing this summer, coming after the arrival of Michael O’Connor, Harry Toffolo and Smith’s own ex-teamate Bruno Andrade.
Photo: Lincoln City FC
Danny Cowley said: “He has a fantastic attitude and has a real desire to improve and get better and he’s going to make it a really good fight for the number one spot.
“That’s what we want, we want competition in all places, that competition is so important.
“What Grant has done has taken a monumental effort, and you often find that when people get an opportunity like this they really value it and I’ve got no doubt he’ll make the most of it.”
Smith arrives in time for pre-season which will begin later this week.
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