- Panthers also placed OT Nate Chandler on season-ending injured reserve.
Velasco, 30, originally signed on with the Titans as an undrafted free agent out of Georgia back in 2008. He spent four years in Tennessee before joining the Steelers during the 2013 season.
The Carolina Panthers would later sign him to a contract in July of last year.
Velasco caught on with the Titans back in June, but was unfortunately among their final roster cuts.
In 2014, Velasco appeared in 14 games for the Panthers and played a total of 407 snaps and was rated by Pro Football Focus as the No. 44 guard out of 78 qualifying players.