ESPN's Josina Anderson had the news first, and Darren Urban confirmed the transaction on the Cardinals' official website. Arizona claimed Dennard after the New England Patriots released him in May, but his stay in the desert was short-lived.
Dennard climbed up the depth chart with the Pats to go from being a 2012 seventh-round pick to a serviceable contributor, making 20 starts in 29 games for New England in three seasons.
He had been looking forward to the fresh start with Arizona despite his surprise at leaving Foxborough.