Rapoport says the deal is for one year and $1 million.
Lucas, 26, is a former sixth-round pick of the Dolphins back in 2016. He was in the second year of his four-year, $2.45 million contract and set to make a base salary of $540,000 for the 2017 season when he was waived coming out of the preseason and later signed to the Dolphins’ practice squad.
Miami later promoted Lucas in October and he finished out the year on their active roster. The Dolphins re-signed him to a one-year, exclusive rights contract in 2018 before trading him to the Chiefs coming out of the preseason.
In 2019, Lucas appeared in 14 games for the Chiefs and recorded five tackles, no interceptions and one pass defense.