No financial terms were immediately available on the deal for McClellan, who was scheduled to be a restricted free agent.
McClellan led the Ravens with a career-high 12 special teams tackles last season. He provides much-needed depth at linebacker and could challenge for playing time. He has lined up at both inside and outside linebacker in the Ravens' 3-4 scheme.
The 6-foot-2, 245-pounder is regarded as a valuable special teams contributor who recorded a career-high 49 tackles in 2012 when he started a dozen games at linebacker.
McClellan has 80 career tackles in three NFL seasons, spending his first year in 2010 on the Ravens' practice squad after going undrafted. He has one career sack, two fumble recoveries and two pass deflections.
McClellan had offseason rotator cuff surgery last year, overcoming the injury to play in all but one game. McClellan was an All-Conference USA linebacker at Marshall.
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