The former West Brom player has been confirmed as the club’s new manager, weeks after the departure of Adam Stevens.
The 49-year-old, who took over at the National League North club in May, has left the Pics following Saturday’s 3-0 loss at Hereford on November 30.
Sneekes, assistant manager Steve Hinks and player-coach Sam Mantom have been appointed on a permanent basis after taking interim charge when the change was made.
Results haven’t picked up and the club find themselves eight points adrift and bottom of the table, and without a league victory in 11 attempts.
After returning to the club having left in 2016, he told the Express & Star: "The circumstances are not great, but I was at the club ten years ago and had two successful seasons there, I feel like there is some unfinished business.
"It is a precarious situation and we are going to give it everything we have got to get out of it.
"We have got a good group of people with different attributes that will hopefully get us in the right direction."
Vice-Chairman Nick Allen said: "We have made the decision to appoint Richard, Steve and Sam as we feel that they are the best team in our current circumstances.
"They bring a local feel, an understanding of our squad and the DNA of our club and are best-placed for the extremely difficult challenge we face.
"This will draw a definite line under recent speculation and we ask everyone to give our new management team their passionate support as always.”