The 25-year-old spent the 2011 season at Wakefield, making 21 appearances - including his Super League debut - before moving to Salford the following year.
He also had a spell on loan at St Helens in 2013 and joined Hull on a 12-month deal for the current campaign.
He played just six times for Hull and said he has returned to Wildcats in a bid for more time on the field.
“I am happy to be back at Wakefield and when I found that there was an opportunity to come back to the club, I jumped at it,” he said.
“I was at Hull FC and only played [a few] games. I was offered a lot more game time here and I want to play rugby, so it was the right decision for me to make.”
Wakefield chairman Michael Carter said: “I am delighted to welcome Stuart back to the club.
“He had a successful stint here in 2011 and will bring some much needed defensive attribute to our squad.
“He can cover a variety positions for us and will be a valuable member for the remainder of this season and next season.”