The 22-year-old defender did not make a senior appearance for the Gunners.
"It feels amazing to be here and I'm extremely happy," he told the club's website.
"The fanbase and size of this football club speaks for itself and having been up here to have a look around, it feels like an exciting place to be.
"Supporters can expect to see a player who loves defending and tackling. I'm more of a traditional centre-half and I want to add those qualities to the team, while also bringing something a little extra."