Kennedy has signed a two year deal.
"I want to keep playing at the highest level possible for as long as I can" he said.
"The Championship is a great league and this move will help me do that.
"I thoroughly enjoyed my time at Cardiff. I would tell any player thinking about joining Cardiff to snap their hand off.
"It's a great club, with fantastic fans and an excellent manager."
A farewell video has already appeared on YouTube celebrating his time at Cardiff City.
http://www.youtube.com/watch?v=qvs0NZSs25Q
And don't forget the legendary Mark Kennedy Diaries. Click here
Best wishes Mark and good luck at Ipswich.