Daly joined on a two-year deal, after initially agreeing to stay with Moors for the 2017/18 campaign, writes Tom Feaheny.
The centre-back told the club's website: “In all honesty, I had agreed with Solihull for the season. I’m leaving a club that I think a lot of. I have had some great years there and I wish them well all the best.
“But it is a new chapter for me and I am looking forward to moving forward with this football club. The big factor for me is the full-time part of it – I’m only 29 and having a couple of years full-time can only make me better."
The Harriers missed out on promotion last season after losing to Chorley in the promotion semi-final after finishing 2nd in the league. While Daly tasted success in the league with Solihull during the 2015/16 campaign as they went up as champions and the defender believes he can offer something to the team going forward.
“From what I’m hearing we could have done with a few more experienced lads who, on the pitch, have got a voice. I’d say when the winter does come and it’s’ the cold and muddy and wet days, I come into my game."