Richardson, 23, was taken in the fifth-round of last year’s draft by the Pittsburgh Steelers. However, he was unable to make the team’s 53-man roster coming out of the preseason and later signed on to the Steelers practice squad. Pittsburgh wound up releasing him with an injury settlement this past October.
The Chiefs signed Richardson to a one-year contract back in February, but he was placed on waivers a few weeks before the NFL draft.
At Arizona, Richardson started 37 games and totaled 189 tackles (142 solo), eight tackles for loss, 10 interceptions, 131 interception return yards, 30 pass breakups, three forced fumbles and two fumble recoveries.