Miami officially designated Larsen as their player to return from injured reserve earlier this week, so this move was expected.
Larsen, 30, is a former sixth-round pick of the Patriots back in 2010. However, he lasted just a few months in New England before he was waived and later claimed by the Buccaneers.
The Cardinals elected to sign him to a two-year deal back in March of 2014 and he later joined the Bears on a one-year deal last year.
Larsen signed a three-year, $5.65 million contract that included $1.75 million guaranteed with the Dolphins this offseason and stands to make base salaries of $975,000 and $1.5 million over the first two years of the agreement.
The Dolphins placed on him injured reserve coming out of the preseason.
In 2016, Larsen appeared in 15 games for the Bears and was rated by Pro Football Focus as the No. 44 guard out of 72 qualifying players.