Kearse just finished serving his three-game suspension for violating the substance-abuse policy.
Kearse, 26, was drafted by the Vikings in the seventh round out of Clemson in 2017. He played out his four-year, $2.4 million rookie deal and made a base salary of $720,000 for the 2019 season.
The Lions signed Kearse to a one-year, $2.75 million deal this past March.
In 2019, Kearse appeared in 15 games for the Vikings and recorded 27 total tackles, one interception and six pass defenses.