Baker, 23, faced four counts of robbery with a firearm from an alleged May incident in Fort Lauderdale, Fla., but the charges were dropped on Monday. Seattle Seahawks cornerback Quinto Dunbar originally was accused of assisting Baker during the incident, but was cleared.
Baker -- a University of Georgia product -- had 61 total tackles, eight passes defensed and two tackles for a loss in 16 games during his rookie campaign in 2019. The Giants selected Baker with the No. 30 overall pick in the NFL Draft that year.
Baker could soon find his way to Kansas City's active roster due to the team's lack of depth at the cornerback position caused by injuries.
Charvarius Ward, Bashaud Breeland, Antonio Hamilton, Rashad Fenton and Bopete Keyes are the cornerbacks on the Chiefs' active roster.
The NFL still could opt to discipline Baker after it completes an investigation.
The Chiefs had a bye last week and will travel to play the Las Vegas Raiders at 8:20 p.m. EST on Sunday.