The former Hull KR loose forward joined the Eagles on loan in June, playing four games and scoring one try.
Eagles coach Mark Aston is delighted that a player who has been a target for a while has finally signed for the club.
“I am thrilled to get this deal over the line to get Dave here,” Aston said.
“Everyone knows what we think of Dave, and it was always my intention to try and get him back for an extended stay.
“He is a great lad, always willing to work hard on the training ground to try and improve, and those are the types of individuals that we want here.
“He gives us some aggression and, of course, he gives us versatility too, and he is just the kind of player we need around the place, ahead of what will be a crucial period of the season.”