The 20-year-old centre back arrived late on deadline day yesterday, and was therefore not registered in time for this afternoon’s game at home to Preston North End.
Nelson featured nine times for the Foxes first team last season, scoring once, as they lifted the Sky Bet Championship title.
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He said: “It was a great season for us. Seeing week in and week out, getting good results and great performances was great to be a part of.
“There are some very experienced centre halves, like Conor Coady, who I tried to learn off as much as I could.
“Playing alongside him, and watching him play, was really good for my development.
“You’ve got to take as much as you can from that, and even if I wasn’t playing, I was watching what they were doing, and using that as a learning tool for myself.”
On joining the U’s, Nelson added: “There’s been a bit of waiting around, but I’m excited to finally get it over the line.
“It’s going to be a tough season with tough opponents every week. There are no easy games in the Championship, but I’m just excited to get on and play.
“I’ve got good belief in the team and the players around me, so I’m looking forward to it.
“I felt like it was always the plan to do pre-season and then hopefully find me a good club to go out on loan and get game time.”
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Nelson is able to play as a right-sided centre half, and as a left-sided one too, and hopes to bring that adaptability to United.
He said: “I’m comfortable on both sides. I’ve played in both positions throughout my academy days and on loan spells.
“I’d like to think I’ve got good pace. I’m good on the ball and can pick a pass, and I’ve got good composure.”
Nelson spent the first half of the 2022/23 season on loan with Rochdale in League Two, making 12 appearances, before a switch to Doncaster Rovers for the second half of the campaign.
He played 15 times in League Two for the Keepmoat Stadium outfit.
Nelson said: “It was vital for my development and made me grow up from a boy to a man.
“It was different to academy football, and it’s something you’ve got to take in your stride, and you’ve got to get as much as you can from it, and I feel like I did that.”