The Cardinals lost a veteran leader on the defensive line when Calais Campbell signed with the Jaguars, but brought another one back on Friday.
Frostee Rucker signed a one-year contract, returning to his role as a rotational player and a strong voice in the locker room.
"It's always been a blessing and a pleasure to be able to play here," Rucker said. "We want to win. That's why I came back."
Rucker, who will be 34 in September, didn’t register a sack last season but had eight combined in the two seasons prior.