The 28-year-old has put pen-to-paper to join the Pilgrims after leaving EFL side Harrogate Town – and recovering from a knee injury picked up at AFC Telford United on April 30.
Leesley has nine goals and 19 assists to his name during two loan spells with the Pilgrims – in just 44 starts and nine substitute appearances.
His injury at the New Bucks Head deprived the Pilgrims of the player's services for the play-offs – but he is now fit and available ahead of Saturday's big kick-off against Southport.
"Joe possesses quality and experience in abundance – two vital ingredients for any side at this level," reflected United manager Paul Cox.
"He's worked hard to come back from that unfortunate injury at the end of April and I am looking forward with Joe once again this season.
"Joe is extremely versatile and can play in a number of positions."