Imray, 23, who can also operate at right wing-back, spent last season on loan at Blackpool and West Bromwich Albion, featuring 17 times for the Baggies and scoring once as the club fought off relegation.
Eligible to represent Trinidad and Tobago despite being English-born, he joins a Wrexham squad that has previously included several Trinidad and Tobago internationals, among them club legend Denis Lawrence.
Manager Phil Parkinson has been keen to strengthen his wing-back options following Issa Kabore's return to parent club Manchester City after a loan spell at the Racecourse Ground last season.
"We're pleased to welcome Danny to the club," Parkinson said. "He's got an interesting story, with how he's worked his way up from non-league to the Premier League, and is a young player with potential."
Imray never made a senior appearance for Crystal Palace after joining from Chelmsford City in 2021, being loaned back to the Essex club immediately before further temporary spells at Bromley, Blackpool and West Brom, but Parkinson confirmed he had already linked up with the Red Dragons in the United States ahead of Wednesday's pre-season fixture against Liverpool at Yankee Stadium in New York.
Speaking about his move, Imray pointed to the club's wider ambitions beyond results on the pitch.
"First and foremost, I think where this club is going, it's definitely on an upward trajectory," he said. "It's just everything about the club really – everything behind the scenes. I've watched Welcome to Wrexham and it's not just a football club that wants to do well on the pitch, but one that wants to do well off the pitch too.
"The community means a lot to the club, and I think that's such a good way to be because without the fans, the clubs are nothing. There were loads of things that enticed me to come here, but the club want to be in the Premier League and after speaking to the gaffer it's just such an exciting project to be a part of."