The 25-year-old, who is comfortable at left-back or at centre-back, played 181 times for Pools during his four years at the club.
Hartlepool boss Colin Cooper told the club's official website: "We received an offer and Peter was open to the idea of moving on.
"He leaves with our best wishes and hopefully it can give us a little bit of room to do some transfer business of our own."
- Sports & Recreation
- Colin Cooper