Jacobs has signed a three-year contract and joins Derby for an undisclosed fee.
“We’re delighted to secure Michael’s signature as he’s a player we identified some time ago as someone who would be a very good addition to our squad, and over the last two years he’s been one of the best players in the lower leagues,” Derby boss Nigel Clough told the club’s official website.
“He’s a young lad, but already he has plenty of first-team experience at Northampton behind him and we feel he has plenty of potential, which we believe he can fulfil in a Derby County shirt.
“Michael fits in well with the sort of player we’re looking to bring into the club and we’re delighted he’s chosen Derby County after hearing what we’ve had to say and having a look around the club.
“We’ve had to be patient in getting this deal done, but we’re very happy to get it over the line.”