The 20-year-old Scunthorpe-born player has put pen-to-paper on an initial one-year contract at The Jakemans Stadium.
Compensation is payable to North Ferriby due to the player’s age and a package has been agreed by the two clubs.
United boss Adam Murray was delighted to sign Hare and said: "Taron is a player we believe fits what we are trying to build. He has had a good grounding and he is young and hungry to push on in his own career and to help our club progress.
"He played close to forty games last season in the league above and at the age of 20, that will stand him in good stead moving forward.
"He is a right-back with good presence but can also play on the opposite side or at centre-back. He is very excited about the growth of the club and the pull of our fantastic support was a big factor in him deciding to join us over other offers.
"I am very grateful for the chairman’s backing to bring Taron onboard".