Burgess started his professional career with Fulham before joining Scunthorpe United following loan spells with Ross County, Cheltenham Town, Oldham Athletic and Bury.
He had a brief stint on loan at Salford City before moving to Accrington Stanley in 2020, signing for Ipswich a year later.
He helped the Tractor Boys secure successive promotions from League One into the Premier League.
Burgess – who recently helped Australia qualify for the 2026 World Cup – featured 22 times in all competitions for the Portman Road outfit last season.
Swansea City director of football Richard Montague added: “We are very pleased to have been able to add a player of Cameron’s pedigree and experience to our squad ahead of the new season.
“To bring in a player who has recently played Premier League football and been part of a successful period at his previous club is very positive.
“There was considerable interest in Cameron from a number of clubs, and we are delighted he felt that Swansea City was the right choice for him.”
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