The 30-year-old, who departed Bristol City at the end of last season after three years and 20 goals at Ashton Gate, has signed a two-year deal at the John Smith's Stadium.
The former Blackburn forward progressed through the ranks with the Terriers before making his debut in 2002, scoring 24 times in 76 appearances.
"To leave Bristol City and end such an amazing relationship with both the club and fans, I'm sure the only club I could have the same relationship with is (Huddersfield) Town," he told City's official website.
"I feel like I've got closer to the fans at Ashton Gate more than I have at any other club, certainly from the work I've done with the Community Trust.
"Once I decided to leave Bristol, I made it very clear to everyone that this (Huddersfield) is where I wanted to be."