Richardson, a 13-year veteran, played in 19 games with the Philadelphia 76ers last season. He averaged 9.1 points before his season was shortened by a knee injury.
When healthy, the 34-year-old Richardson has been an effective scorer. His career average is 17.1 points, including three seasons over 20 points per game. He set a career high with 23.2 points per game with Golden State in the 2005-06 season.
Richardson also has played with Phoenix, Orlando and Charlotte. He is averaging 17.1 points and 5.4 rebounds in 37 career postseason games.
The deal was announced on Tuesday.