“I’m here to win football matches and achieve something special.
“Everything that Wrexham’s about, I’m going to throw myself into it head-first and give my all for this badge.”
Worrall has been an unused substitute in each of the Clarets’ opening three Championship games of the season.
His sole appearance under new boss Nicky Hayen this term came in Burnley’s EFL Cup first round victory over Notts County.
“We’re delighted to welcome Joe to the club,” Parkinson said.
“He’s an experienced centre-half with good leadership qualities who’s been part of promotions out of this division.
“We look forward to welcoming him into the squad.”
Worrall started his career with Forest and made 226 appearances for his boyhood club before joining Burnley in the summer of 2024.
He was named Forest’s player of the season in 2020-21.
The following campaign, he played a pivotal role in helping Forest gain promotion to the Premier League via the Championship play-offs and was named in the second tier’s team of the season for 2021-22.
Worrall had loan spells during his Forest career at Dagenham & Redbridge, Rangers and Besiktas, where he won the Turkish Cup during a loan spell with Besiktas in 2023-24.
He made 27 appearances in all competitions for Burnley.
Worrall arrives at the Racecourse Ground after 10-cap England international Conor Coady left Wrexham by mutual consent.
Coady had not featured in any of Wrexham’s four matchday squads this season.
Elliot Lee, Harry Ashfield and Aaron James are among those who could leave Wrexham either on loan or permanently on deadline day.
The Red Dragons have signed goalkeeper Anthony Patterson, wing-backs Danny Imray, Issa Kabore and Jacques Ekomie and central midfielder Ben Whiteman so far this summer.
Wrexham could also recruit an additional forward in the final stages of the summer window.
Parkinson’s side return to Championship action at Millwall on Wednesday night (19:45 BST).