The 28-year-old, who made 131 appearances for the Robins between 2004 and 2009, turned down a new deal at Port Vale to return to the Abbey Business Stadium and pen a one-year contract.
Vincent began his career with Wolves before joining up with John Ward's Robins and he was part of the 2005/06 promotion-winning squad before spells on loan at Aldershot and Colchester.
He spent last season with Port Vale where he scored eight times in 40 appearances as they clinched promotion to the third tier.
- Sports & Recreation
- Port Vale