Murray, 24, was a regular for Rovers this season, playing 14 games, but was out of contract at the end of the campaign.
He has spent time at Halifax when on loan from Salford Red Devils in 2017 and 2018.
Murray becomes Simon Grix’s fifth signing for 2021 and he said: “I’m buzzing to be part of the club.
“I loved every minute playing here before and loved what the club is about.
“Grixy has and is making some really exciting signings for next year and I’m really excited seeing where it takes us for next year.”
Grix added: “I see Dan a real coup for us.
“We have had him before on loan where he was impressive on and off the pitch.
“He is maturing as a player and a person bringing Super League experience and high standards.”
“He is a hard working player who will provide some punch for us in the middle of the field. We look forward to him joining us.”