Foote agreed to a three-year deal, the player told ESPN's Josina Anderson. Terms of Burress' agreement weren't immediately known.
Foote led the Steelers with 113 tackles last season and added four sacks. He's spent 10 of his 11 NFL seasons with the Steelers.
Burress returned to the Steelers late last season and had three receptions for 42 yards and a touchdown in four games.
The Steelers' depth chart at receiver is expected to have a different look next season, as receiver Mike Wallace is expected to sign elsewhere as a free agent.
Also Tuesday, linebacker LaMarr Woodley restructured his contract and saved the Steelers more than $4 million of cap room.
Woodley, who had a $13,240,000 cap number, converted $5.4 million of his $9 million base salary into a signing bonus and spread out the proration over the remaining four years of the contract. He now has a $3.6 million base salary and a cap number of $9.19 million, a savings of $4.050 million.
Tuesday's moves capped a busy day for the Steelers, who earlier made tender offers to four restricted free agents -- running backs Jonathan Dwyer and Isaac Redman, wide receiver Emmanuel Sanders and nose tackle Steve McLendon. The offers give the Steelers the right to match any offer sheet the players may receive from other teams during free agency.
Dwyer has already signed his sixth-round tender, worth $1.323 million, a source told ESPN.
Burress spent most of last season watching the NFL go on without him after the New York Jets declined to re-sign him following a productive -- and quiet -- return to the league in 2011, when he had 45 receptions for 612 yards and eight touchdowns.
The 6-foot-5 Burress spent his first five seasons in the NFL with the Steelers, who selected him with the eighth overall pick in the 2000 NFL draft.
He moved on to the New York Giants in 2005 and caught the winning touchdown pass in the 2008 Super Bowl. His career derailed after he accidentally shot himself in a New York nightclub, leading to a gun charge that resulted in a 20-month prison sentence.
Information from ESPN NFL Insider Adam Schefter, ESPN.com senior writer John Clayton, ESPN's Josina Anderson and The Associated Press was used in this report.