The former Tottenham Hotspur trainee, who is a Antigua and Barbuda international, spent four seasons at Motherwell between 2011 and 2015.
The 23-year-old joins defender Jordan Tunnicliffe and midfielder Lewis Montros as new signings this  summer.
National League North champions Fylde are preparing for their first season in the fifth tier.
Francis-Angol's deal also includes the option of a further year.
Find all the latest football transfers on our dedicated page.
AFC Fylde have signed Kidderminster Harriers left-back Zaine Francis-Angol on a two-and-a-half-year deal.