Higgins, 28, re-joins the Clarets for a second spell, after previously featuring for City in the 2010-11 season.
During his first spell with City, Sam made 28 appearances, scoring 16 goals; including the equalising goal vs Wycombe Wanderers with a curled free-kick in the FA Cup 2nd Round.
The striker has also featured for the likes of Concord Rangers, Bromley & had brief spell with Canvey Island. He has, however, spent the large majority of his career with local side East Thurrock United, establishing himself as a cult hero during spells in the 2011/12 season and from 2014/15 up until the end of 2018/19, scoring 275 goals in total.
He was also a part of the East Thurrock squad that won last seasons BBC Essex Senior Cup, alongside fellow teammate and new City signing, Alex Osborn.
"I'd like to say thank you to Covo & East Thurrock United for the platform they gave to me to perform during my time there.
"I look forward to the challenge ahead with unfinished business at Chelmsford City!"
Welcome back to Chelmsford, Sam!