Hope was a third-round pick by Pittsburgh in 2002. He signed with the Titans as an unrestricted free agent in 2006.
Hope was a 2008 Pro Bowl selection after leading Tennessee with four interceptions.
In 2011, Hope made two starts and played in 10 games. He had 33 tackles with one interception.
Hope started all 16 regular-season games on Pittsburgh's 2005 Super Bowl championship team. He has 20 career interceptions.
Details of the agreement announced Friday were not released.