The hiring announced Monday is the first confirmed addition to new coach Jack Del Rio's staff.
Musgrave previously served as Del Rio's offensive coordinator for two years in Jacksonville before being let go following the 2004 season.
Musgrave has also been the coordinator in Carolina and Minnesota during a long coaching career that began with a stint as Oakland's quarterbacks coach in 1997.
Musgrave played for San Francisco and Denver as a backup quarterback.
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