The 19-year-old Posh defender has moved to The Robins on an initial one month loan deal.
"I know Danny after having him for a couple of months at Kidderminster," Cheltenham boss Mark Yates told BBC Radio Gloucestershire.
"He's a good defender with a great left foot.
"Mark Cooper was keen for him to go up a level and it suits both of us.
"We need young competition for places throughout the team."