He spent the 2019-20 season on loan with Plymouth, making 30 appearances in all competitions and helping Argyle win promotion from League Two.
The 21-year-old is able to play in defence or in midfield.
"He had a really good campaign at Plymouth last season, showcasing his versatility," Rovers boss Ben Garner told the club website.
"We see Josh in a set position for us and feel we can really develop him in that role. He is dynamic and has the technical and tactical qualities that we are looking for, plus I really like his character and mentality."
"I think this is the perfect place for me to start that."
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