The Steelers agreed to terms with free agent linebacker Tuzar Skipper, his agency, JL Sports, tweeted.
The Titans cut Skipper on May 2, and he had remained a free agent since.
Skipper has spent time with the Giants, Steelers, Titans and Falcons. He has played 10 games with two starts, but Skipper did not get into a game last season.
Skipper has totaled eight tackles, half a sack and a fumble recovery in his career.