Housler's role diminished as a receiver diminished last season as the former Florida Atlantic standout caught just nine passes for 129 yards and no touchdowns in 15 games, including seven starts. He was targeted just 17 times.
Housler had a more prominent role previously with the Cardinals, catching 45 passes for 417 yards on 68 targets in 2013. He caught 39 passes for 454 yards and a touchdown as a rookie.
For his career, the former third-round draft pick has 96 receptions for 1,004 yards and one touchdown.
The Ravens have a need at tight end after veteran Owen Daniels signed a three-year, $12.5 million contract this offseason to join the Denver Broncos.
The Ravens return tight end Crockett Gillmore, who provides a blocking presence and caught 10 passes for 121 yards and a touchdown as a rookie last season.