The 25-year-old spent two frustrating years at Naturena between 2015 and 2017, and after a long contractual dispute over the termination of his contract, he reached an agreement with Amakhosi on Monday.
Xulu was linked with a number of PSL clubs, including Cape Town City, Orlando Pirates and Indian Super League (ISL) outfit Atletico de Kolkata after Chiefs annmounced that he was not in Steve Komphela's plans for the upcoming season.
However, the Team of Choice wasted no time in offering him a deal he couldn't refuse soon after settling his issues with the Glamour Boys.
He made just 10 appearances in all competitions under Komphela, and found the back of the net once during his two-year stint.
Xulu arrived at the club's training grounds in Pietermaritzburg on Thursday morning ahead of an official press conference.
He will be expected to revive his career under the tutelage of Fadlu Davids in the new season.
Meanwhile, Maritzburg United also confirmed the arrivals of defenders Rushine De Reuck and Motsie Matima, midfielders Mxolisi Kunene and Liam Youlley, and goalkeepers Richard Ofori and Jethren Barr.