Financial terms were not disclosed.
According to Pro Football Focus, Leach had the highest grade last season among fullbacks overall and in run blocking.
Leach ran 21 times for 67 yards and one touchdown while with the Ravens. He also had 36 catches for 212 yards. Leach, 31, made the Pro Bowl in the past two seasons with the Ravens.
BANKS: Newsome, Ravens not panicking after loss of Pitta Leach was released last month when the two sides failed to agree on a restructured contract. He was scheduled to make $3 million this season before being cut.