The Ireland international, 25, has penned a two-year deal having impressed with Featherstone this term following his move from Championship rivals Swinton Lions.
Halton, who can play prop or second-row, has attracted plenty of interest and Hull KR boss Tony Smith is delighted to get him on board for a shot at Super League.
“Frankie caught the eye with his ability to break the line and tackles," explained Smith.
"He’s really strong carrying the ball with a good eye for the inside shoulders that get him through holes.
“There’s plenty of size about him as well as good speed for a back-rower, who can also play in other positions. He’s very versatile.
“There’s a few other attributes that he has been able to show as well. He’s solid in defence but I think there is room for improvement in all areas for him.
"He is willing and very mature for a young man who has been out in the work force.
“He’s looking for an opportunity to really crack up to the level where Super League isn’t just a dream, it’s a real desire for him."
Smith added: "I like his attitude; he’s a lovely young man who just wants succeed.
“It’s probably taken him a few years to get to where he is in a position where he is confident enough to go for it and back himself.
"We’re certainly happy to give him that opportunity.
“I think that he will strengthen us and himself as he goes on."