Grubbs, 32, started seven games last season for the Kansas City Chiefs before he suffered a season-ending neck injury. In March, the Chiefs cut him with a failed physical designation. Grubbs was one year into a four-year, $24 million contract.
He was named to the Pro Bowl in 2013 with the New Orleans Saints, who traded him in March 2015 to the Chiefs for a fifth-round draft pick.
The Ravens took Grubbs No. 29 overall in the 2007 draft, two rounds before they selected five-time All-Pro Marshal Yanda. Grubbs started 65 consecutive games for the team and made the Pro Bowl in 2011, his final season with the Ravens, before he agreed to a five-year, $36 million deal with the Saints.