Daniels, 31, is a former fourth-round pick of the Packers back in 2012. He was entering the final year of his five-year, $41.66 million contract and set to make a base salary of $7.6 million for the 2019 season when the Packers released him.
Daniels signed a one-year, $9.1 million deal with the Lions for the 2019 season and finished out his contract.
He signed a one-year, $2.7 million deal this offseason with Cincinnati.
In 2019, Daniels appeared in nine games for the Lions and recorded 10 tackles and one sack.