The 49ers waived Martin on Thursday after one year with the team.
The 25-year-old started nine games for San Francisco at right tackle last season, appearing in 15 overall.
"Our goal is to build the strongest roster possible and add competition at every position," general manager Dave Gettleman said. "Jonathan brings quality experience to our offensive line, having started 32 games in his career at both tackle spots."
While with the Miami Dolphins, Martin gained national attention from the Richie Incognito/Dolphins bullying scandal. He spent two seasons with the Dolphins before he was traded to the 49ers last March in exchange for a conditional draft pick.
- Molly Geary