A deal was almost clinched last week to bring the 27-year-old to the KC Stadium, but it fell through on Friday.
He has now signed a two-year contract with Championship side Sheffield United after they agreed a £50,000 fee with Stockport.
He told BBC Radio Sheffield: "The Hull deal had fallen through and that was disappointing cause I had set my heart on leaving.
"The interest from Sheffield United came over the weekend and it's all done and dusted. I can now start playing.
"I've made the right decision. As soon as I knew United were interested it was an easy choice really."