The 28-year old was recently released by Nottingham Forest and will now pitch up with the Canaries for the rest of the season.
Camp said he was thrilled to be returning to Carrow Road after a brief loan spell back in 2006.
"I'm delighted," he told the club's official website. "It all came around pretty quickly and it turned out to be a pretty straight forward decision in the end. I'm really pleased to be here.
"It's a six-month deal which I think suits both parties pretty well. I think it would add a little bit of competition and hopefully already here. Any player wants to be in the Premier League and I'm very fortunate to be given this opportunity to play at a Premier League club and challenge for a place in the team.
"A few things have changed around the training ground since my first spell here, but obviously a different atmosphere and feel about the place. I think it was about six years ago now that I was here, how time flies, but it helps to already know the area."