The Northern Ireland under-21 defender will stay on loan at Carlisle until the end of the season.
Manager Greg Abbott told the club website: “Manchester United speak very highly of him.
“He has been solid and shown ability in the games that we have seen him play.”
Abbott added: “We’ve been looking at Joe ever since the injury to Sean McDaid happened, and we had actually watched him before that as one that we might try to follow up in the future.
“He will come in and provide real competition for that left-back spot. as he is another very good young player.
“He’s the type of person and player that we want to add to the squad so we’re delighted that he is joining us.”