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Last year he was loaned to Wycombe and Rochdale but now his Man Utd contract is about to end and despite being offered a new deal Heaton has decided to leave Old Trafford in the hope of finding regular first team football.
He will challenge David Marshall for a place in the City side when he makes a permanent move to the CCS on July 1st.
Dave Jones told Cardiff's official website: "United had offered him a new contract, but Tom's attitude was that he wanted to play, which says a lot about him.
"We all know about the lad from his time on loan here and know that we have signed a very talented young player who can offer plenty of competition for Marshall in goal."