The versatile 25-year-old - who can play at full-back or in midfield - became the Gills' second summer signing earlier this week.
He had previously agreed a new one-year deal at the Banks's Stadium but had not signed it before the Gills came calling last weekend.
And he told the Express and Star: "I knew I wasn't getting a good deal - I wouldn't have been able to do anything with the money they offered me - I couldn't afford to sign it but I just had no other offers. All I wanted was to be appreciated.
"I've got a family and a baby to support, I wasn't happy but I had nothing else. I needed more security but at least I had something on the plate for me.
"If Walsall offered a bit more security I would have stayed."