The 26-year-old Lacey has started at least eight games in each of his first four NFL seasons. He recently had minor knee surgery.
Lacey (5-10, 183) signed with the Vikings in April. He has recorded 257 tackles, defended 25 passes and hauled in six interceptions in his pro career, which began with Indianapolis in 2009.
Lacey notched 36 tackles and intercepted one pass for Detroit in 11 games in 2012.