Pigott joined Cambridge in July 2016, but scored only once in 17 games before joining Maidstone on loan in January.
The 23-year-old scored six goals in 16 league appearances for the Stones.
Pigott is Maidstone's second signing since the end of the season, following the arrival of former Bromley left-back Joe Anderson.
National League side Maidstone have signed striker Joe Pigott on a one-year deal following his release by League Two club Cambridge.