Financial details of the three-year contract were not released by the team.
Edwards started 16 games for the San Diego Chargers last season, piling up a career-high 170 tackles, 2 1/2 sacks, three interceptions, two forced fumbles and a fumble recovery.
He was a fourth-round draft pick of the Chiefs in 1996 and played 94 games for Kansas City over six seasons. He led the team in tackles for four seasons and is fifth on the all-time Kansas City tackle list with 742.
Over his 11-year career, Edwards has 1,508 tackles, 22 sacks and 27 interceptions. His interception total is the highest among active NFL linebackers.
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