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It's two years since he left Burnley, both of which have been spent at Watford, and on completing his new move he said: "I am delighted to be at Notts County.
"It's always hard leaving a club and I thoroughly enjoyed my time at Watford, but I am relishing the challenge here at Notts County next season.
"I was impressed by what the manager had to offer and I'm just looking forward to getting stuck in now and helping the club continue their forward momentum from last season."
Harley, who signed for Burnley from Sheffield United, made 126 appearances for the club before his release at the end of the 2007/08 season.
