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The defender, 21, has represented England at youth level and has gained a good level of experience in playing in the EFL after loan spells at Cheltenham Town, Luton Town, Gillingham, Yeovil Town and Port Vale.
Inniss, who operates at centre-back, spent the 2015/16 season at the Valiants, featuring 17 times and registering five clean sheets.
In the next stage of his development he will now link up with Phil Brown's side until the end of the 2016/17 campaign.