The 25-year-old, who has considerable Step 2 experience during his time at Harrogate Town, has linked up with the Pilgrims following an impressive campaign with the Evo-Stik Northern Premier Division Tigers.
Crook has put pen-to-paper on an initial one-year deal at The Jakemans Stadium.
"He is somebody I have been keeping an eye on for a number of years," commented manager Craig Elliott to bufc.co.uk on the acquisition of Crook, who played under the current United boss during his time in the Ossett Town hotseat.
"I had him at Ossett when he was a youngster at Scunthorpe and he has since been in the play-offs with Harrogate and the Evo-Stik team of the year with Hyde," added Elliott.
"He is hungry and ready to step back up to this level."