Vaughn, 28, originally signed on with the Broncos as an undrafted free agent out of Mississippi back in 2010. He spent two years in Denver before later being traded to the Colts in return for Chris Gronkowski.
Vaughn played two seasons for the Colts before later joining the Lions as an unrestricted free agent in April of last year. The Ravens wound up signing him to a contract shortly after this year’s draft, but he was among their final roster cuts.
In 2014, Vaughn appeared in 13 games for the Lions and totaled 19 tackles, two interceptions, a fumble recovery, and five passes defenses.