The 22-year-old former Notts County striker has switched to The Jakemans Stadium after turning down the opportunity to remain with last season's Vanarama National League North runners-up.
Waite scored seven goals for Harriers, predominantly from a wide position, but is equally at home through the middle.
United boss Adam Murray was delighted to get his man after a summer-long pursuit and said: "I am over the moon to get him onboard because it took a lot of hard work.
"He's a player who played a lot of games in a very good team last season. He is naturally a centre forward but played all last season as a wide man, so he gives us good attacking options.
"He will bring good technical ability with pace, power and presence in the attacking third."