The move, first pointed out by Fox’s Alex Marvez, was listed in the NFL’s Monday transactions.
The 29-year-old Rosario appeared in 15 regular season games for Chicago in 2013, starting three. According to Pro Football Focus, Rosario played 186 snaps for the Bears last season.
The Bears have been speculated as a team to watch in free agency, given their considerable needs on defense. They were linked to Seahawks defensive end Michael Bennett, who re-signed with Seattle on Monday.
The new league year begins on Tuesday.
An eighth-year pro from Oregon, Rosario had stints with San Diego, Denver, Miami and Carolina before signing with Chicago last year.