The 31-year-old is Johnson's third signing of the summer following the addition of fellow defender Joseph Mills and Mike Jones.
Wilson, who played with the manager at Bristol City, started his professional career with Stoke City before moving to Cheltenham Town.
Speaking about the move, the defender cannot wait to get started. He said: "It's lovely to be back at this part of the area and soon as the gaffer got in touch, I jumped at the chance.
"I played with him at Bristol City and he knows the type of player that I am. I got offered a contract with Colchester but turned it down and once I knew he was interested, there was no doubt where I wanted to be."
"I bring with me a lot of experience. I'm strong, athletic and quick so I just can't wait to get started."
Having played with the manager at the Robins, Wilson knows exactly what the manager expects from his team.
"He's still got the same attributes from being a player to a manager. He's got a desire to win and he always wants 100% from his players."