Robinson, who also had loan spells at Boston United, Gainsborough Trinity and Worksop Town put pen-to-paper at the end of last week.
United chairman Ian Beaumont commented: “We are very happy to announce the signing of Connor Robinson at Lincoln United.
“This is fantastic work by manager Sam Wilkinson and his team to secure the signing of this quality player adding to an already quality squad.
“I'm quite sure he will fit in and help make a great impact on the second half of this already remarkable season.
"It is no secret that we hope to have Jack McGovern back in the squad if can secure the right deal for him and Lincoln United."
"I hope also it sends out a message that we are a progressive club with big ambitions already this year we have former Lincoln City chairman Rob Bradley joining our Board bringing a wealth of experience and knowledge to the club combined with the people already at the club, he will be a great asset I'm sure”.