The 36-year-old ended his 13-year spell at Selhurst Park when his contract expired last summer, and has been without a club since.
Now, with the January transfer window open, he has found the opportunity to sign for Championship side Swansea as confirmed by the club on Friday morning.
“Swansea City has completed the signing of experienced defender Joel Ward on a deal through to the end of the 2025-26 season.
“The 36-year-old will provide the Swans with an additional option across defensive positions, including right-back, and Ward will wear the number 25 shirt in SA1.”
Ward will provide competition at full-back and centre-back and will try to help Swansea climb up from the bottom half of the table where they sit under manager Vítor Matos.
Ward spent 13 seasons playing for Palace, making 364 appearances, and described the FA Cup triumph last season as a "fairytale ending" to his Palace playing career.
"It has been an incredible journey with so many fond memories, so many incredible moments – moments that will live on in my mind for the rest of my life," he said in a statement last May.
"This isn't 'goodbye' – it's merely a 'see you later'."