The 23-year-old made the transition to Leicestershire following two seasons at Ashton Gate and leaves her former club having helped them win the Barclays Women's Championship title in her most recent campaign.
Palmer now has 88 senior career appearances to her name – 29 of which have come in WSL competition with the Robins – and arrives at Belvoir Drive having represented Manchester United and Sheffield United in the Women’s Championship during previous seasons.
The midfielder has an impressive footballing education behind her, with several youth international caps to her name after representing England at various stages from Under-17 level up to the Lionesses’ Under-21s programme.
Now a two-time Championship title winner - having also won the trophy in 2018/19 with Manchester United - Palmer adds valuable experience and competition to Willie Kirk’s side and scored on the opening day of the 23/24 campaign with a long range effort against her former employers.