The French defender, who can play at right-back or centre-back, signs following his release by Sky Bet League Two side Notts County and has a further one-year option, which is performance-based.
Thirty-year-old Audel was born in Nice and played for several clubs in his youth career, including Auxerre.
His senior career has seen him play in France, Slovenia with Izola, Italy with Triestine and Pisa and San Marino.
He made the move to England in 2013, appearing nineteen times for Macclesfield Town before signing for Crewe Alexandra for an undisclosed fee.
Following two loan spells at Lincoln City, he signed for Notts County in 2015 and made forty-four appearances for the Magpies, scoring 3 goals.