Kent Somers of azcentral.com reported it's a one-year contract.
The running back missed most of the 2016 season after undergoing sports hernia surgery, appearing in only four games while totaling a career-low 95 rushing yards.
However, the 31-year-old explained after the season his intention to return to the field.
"I definitely know I can still make plays," Johnson said in February, per SiriusXM NFL Radio. "I definitely know I still have my speed."
While no teams were in a rush to sign him, the Cardinals saw enough value in the veteran to bring him back into the fold for his third season with the team. He should earn significant playing time behind Pro Bowler David Johnson.
Chris Johnson has taken on a smaller role in the past three years with the Cardinals and New York Jets, although he has averaged a respectable 4.2 yards per carry and 7.0 yards per reception in this stretch.
He enters 2017 as one of the top active players with 9,537 rushing yards and will try to add to his impressive career totals in a reserve role for Arizona.