The midfielder, Stags’ assistant manager, has been a major target for Tigers in recent weeks, and the two clubs struck an agreement on Thursday night.
A former Derby County and Oxford United man, Murray was recently on loan at Rainworth after a very public falling out with Stags boss Paul Cox.
The 32-year-old will add some much needed experience to a young Worksop squad who are well positioned to make a surprise promotion charge in the Evo-Stik Premier League.
Tigers boss Mark Shaw is delighted with the new signing.
“I think it’s a major coup for the club, and one of the biggest signings in non league this season,” he said.
“He adds so much experience, he’s a winner with a great pedigree.”
“Our owner Jason Clark was pivotal to making this signing happen, and a lot of work has gone in behind the scenes for weeks now.”
Murray is no stranger to escaping leagues, after captaining Stags to Conference Premier glory last season.
He also helped both Carlisle United and Oxford United to promotion into the Football League.
His competitive debut came in 1999 for Derby, against West Ham United, and he’s had three stints with Mansfield in an impressive career.
He joins fellow new signings goalkeeper Jan Budtz, formerly of Doncaster Rovers and Gainsborough Trinity, and the dual registration signing Josh Williams from Gainsborough.
Williams can play at centre-half or left-back.