The Ravens are signing veteran safety Rayshawn Jenkins to the practice squad, coach Jesse Minter announced.
The Steelers cut Jenkins on Oct. 21.
Jenkins, 32, signed with the Steelers as a free agent in the offseason. He appeared in the first six games and made one start during his brief time with the Steelers.
He made 16 tackles while playing 126 defensive snaps and 62 on special teams.
Jenkins has also played for the Browns, Seahawks, Jaguars and Chargers.
The 10-year veteran has appeared in 145 games and started 93.