The 33-year-old, who was club captain at the Caley Jags, has put pen to paper on a two-year deal at Huish Park having reached a settlement to leave the Scottish Championship outfit a year early.
Making 218 appearances for Inverness during a six-year spell, Warren leaves the Scottish Highlands after leading the club to three cup finals which included lifting the Scottish Challenge Cup in March.
With over 600 career outings the Bristolian returns closer to home to link up with Darren Way’s side, adding vast experience to Town’s ranks who moved quickly to secure his signature.
Heading south of the border for the first time since 2012, Warren will now link up with just the fifth club of his career following on from successful spells with Newport County, Team Bath and Mangotsfield United.
Securing his fourth signing of the summer, Town’s boss told YTFC.net: “Every club he has been at he’s been a loyal servant and his CV suggests that.
“A captain and leader with vast experience, he has led Inverness to three cup finals and comes with a winning mentality. welcome to Yeovil, Gary.”