The 33-year-old 2013 World Cup winner retired from the game in April 2019.
Inglis played 39 Tests for Australia, and won 10 State of Origin series with Queensland and the 2014 NRL title with South Sydney Rabbitohs.
"I can't wait to get over there and play for a club that has so much rich heritage," the centre said.
"To get the opportunity to live in the UK and to play for such a powerhouse club that I believe is on the rise is something I'm looking forward to and hopefully I can add value to the team."