The 27-year-old made 20 appearances in all competitions for the League Two club last season.
Boyce, who can play at centre-back and right-back, has also played for Lincoln City and Scunthorpe United.
The National League club, who finished 15th in the table last season, have not disclosed the length of Boyce's contract.
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Eastleigh have announced the signing of former Grimsby Town defender Andrew Boyce on a free transfer.