The 23-year-old, who made 18 league starts during two years at Vale, has agreed a two-year deal with the Mariners and is manager Russell Slade's third signing of the summer.
"Russell has been a manager at some great clubs and is a big name in football," he told Grimsby's website.
"When I got the original call from my agent, I couldn't turn down the opportunity to work with him (Slade)."
Grimsby recently also signed midfielder Mitch Rose from Newport County and youngster Siriki Dembele from the Nike Academy.
Find all the latest football transfers on our dedicated page.
Grimsby Town have signed out-of-contract Port Vale winger Sam Kelly.