The 20-year-old midfielder will join the Rams from the non-league outfit next month after agreeing a one-year deal.
Derby manager Nigel Clough has signed Pringle as a talent for the future following an impressive first season with the Robins, in which he played a key role in their promotion to the Blue Square North.
He will initially form part of Clough's new 'development squad', which will primarily consist of players under the age of 21 and play in the Reserve League next season.
Pringle admits the reality of his move up from non-league to the Championship is still sinking in, he told the Derby Telegraph:
"It has all happened quite quickly and I still can't believe it. I'm delighted and can't wait to start.
"I want it to be July 1 (when the players report for pre-season training) right now. I'm buzzing about the move and just want to get started."