The Titans announced the deal Wednesday. Terms and length of the deal weren't disclosed.
Johnson, 29, recorded 35 tackles and a career-high three sacks for the Titans last season while playing in all 16 games and making six starts.
Drafted by the Titans in the fifth-round in 2007, he wound up on the practice squad in 2008 and the Colts signed him away. He played five seasons for Indianapolis, then came free after coach Chuck Pagano installed a 3-4 defense.
He rejoined the Titans on a one-year deal last offseason The 6-foot-3 Johnson played at 328 pounds in 2013.
ESPN.com Titans reporter Paul Kuharsky and The Associated Press contributed to this report.