The 6-foot-5, 323-pound lineman started eight games at left guard for the Chicago Bears last season. Rachal spent his first four seasons with the San Francisco 49ers after being drafted in the second round out of Southern California.
He started 38 games with San Francisco, missing only one game in his last three seasons with the 49ers.
Earlier, the Cardinals announced they had signed punter Will Batson.
Copyright 2013 by The Associated Press
This story is from ESPN.com's automated news wire. Wire index