The 30-year-old, who can play at right-back or centre-back, will the Glovers from July 1st.
Zubar has gained a wealth of experience in English football after starting out at French club Caen.
He moved to Plymouth Argyle in 2010 after loan spells with Pau and Brussels, and a permanent stint at Romanian side Vaslui.
The twice-capped Guadeloupe international made 34 appearances for the Pilgrims, scoring two goals, in his debut year at Home Park before transferring to Bournemouth.
Zubar spent five seasons with the Cherries enjoying back-to-back promotions and had three enjoyable loan spells.
“In any team you need experience and Stephane has it in abundance,” boss Darren Way told YTFC.net.
“He is very honest and hardworking. We’re looking forward to seeing him in the green and white.
“He was a very popular at Bournemouth and I’m sure he’ll be a favourite here.”
Are you interested in sponsoring Stephane for the 2017/18 campaign? Please contact Commercial Manager Dave Linney on 01935 847872 or email email@example.com for more information.