Goodman spent the past three season with the Broncos, starting 40 regular-season games and collecting 109 tackles, a sack, seven interceptions and 35 pass breakups to go with three fumble recoveries. He also had five solo tackles in two starts in the playoffs in January.
He missed half of the 2010 season with injuries but started all 16 games in 2009 and again last season.
The 33-year-old Goodman also played for Miami (2006-08) and Detroit (2002-05) after the Lions selected him in the third round of the 2002 draft out of South Carolina. He has 95 career starts and 19 interceptions.