Roberts missed the entire 2019 season after a shoulder injury nixed a trade from the Lions to the Patriots.
Roberts, 25, is a former fourth-round pick of the Lions back in 2017. He was in the third year of his four-year, $2.99 million contract when the Lions traded him to the Patriots coming out of the 2019 preseason.
However, the trade was voided when Roberts failed a physical with New England. Detroit subsequently waived him and Roberts was claimed briefly by the Packers before being waived again.
In 2018, Roberts appeared in eight games for the Lions and caught nine passes for 100 yards receiving and three touchdowns.