The deal includes $6 million guaranteed, Pelissero reports.
Fusco, 26, had one year and $1.436 million left on his rookie contract. A sixth-round pick out of Division II Slippery Rock in 2011, Fusco has started all but one game for Minnesota the last two seasons.
Fusco will begin his fourth NFL season on Sunday, as the Vikings play in St. Louis.
- Chris Mascaro