The 29-year-old left-back did not play a single game this season for the Reds after falling out with manager Gary Megson and said: "It's great to be at Hull. It's a long time since I've played because of the disagreement.
"It didn't go right at Forest due to personal reasons - not playing reasons - which were out of my control.
"I still feel I have a lot to offer. I've won this league (the Championship) twice before. I'm just looking to come here, work hard, get my head down and do my best for Hull.
"It has been frustrating because I didn't feel Forest were really helping and I half thought at times they were looking to stall my career.
"When I first went back to Forest things went really well but when the new manager came in he refused to let me go into training. That's behind me."