23-year-old Kingsley, who can play as a left back or centre back, has agreed a three-year deal with the Club having the option of extending that by a further year in the future.
Kingsley made 17 Premier League appearances for the Swans after joining the club from Falkirk in June 2014, and has been capped once by Scotland having also represented his country at U18, U19 and U21 level.
After completing the move to the KCOM Stadium, Kingsley said: “I’m delighted to get the deal done. It’s come around quite quickly but I’m just delighted it’s got over the line now and I can’t wait to get training in the morning.
“It’s time for me to really kick on now and get plenty of games at a very competitive level like the Championship.”
Exclusive interview with Stephen will follow tomorrow on Tigers TV and our Official Website.