Dennard, who will be 26 at the start of the regular season, was waived by the New England Patriots in May and claimed by Arizona the next day.
Dennard was a seventh-round pick in the 2012 draft by the Patriots and played in 29 games over his three seasons in New England. He played six games, including four starts, in 2014 and recorded one interception, one pass defended and 13 tackles.
Dennard was brought in by Arizona after the Cardinals lost Antonio Cromartie in free agency.
- Dan Gartland