Kennedy was previously with Warriors when an injury crisis in 2012/2013 saw him join up at Scotstoun on a loan deal.
Kennedy made 66 appearances over an eight-year stint at Edinburgh Rugby. The former Alloa RFC man - who is the cousin of Edinburgh and Scotland second-row Grant Gilchrist - has also represented his country with distinction on the World Rugby Sevens Series, helping his side to a Challenge Trophy victory at the 2019 Hong Kong Sevens.
He will link up with Stirling County's new Super6 franchise in addition to his Warriors commitments.