Chis, 31, joins the Clarets with an expansive history of Football League experience, counting Peterborough United, Stevenage and AFC Wimbledon as his former employers.
The Harold-Wood born midfielder began his career with the Ipswich Town youth academy but joined Maldon Town following his release from Portman Road before shortly moving to Billericay Town.
Whelpdale scored fourteen goals in 37 appearances for the Blues, triggering plenty of interest in the midfielder from Football League outfits. The 31-year-old opted to reject Southend United - who had just been relegated from the Championship - as he chose to sign for Peterborough United.
The midfielder scored twelve times for the Posh as he made 125 appearances for the London Road based Club between 2007 and 2011.
During his time at London Road, Whelpdale spent a brief time on-loan at Gillingham, a Club he would soon return to on a permanent deal. The midfielder made 104 appearances - scoring twenty times - for the Gills before switching to Stevenage in June 2014.
A further spell at AFC Wimbledon followed before Whelpdale returned to Stevenage to make 27 appearances last season.
City wish to place on record their thanks to the Supporter's Club's 12th Man Fund for assisting City boss Rod Stringer in completing this deal.
Following the completion of Chris' move to City, the midfielder will be included in the matchday squad for tomorrow's Vanarama National League South tie at Hungerford Town.
All at Chelmsford City Football Club look forward to welcoming Chris Whelpdale to the Melbourne Community Stadium this season.