Cundiff is replacing kicker Graham Gano, who was released Tuesday.
The 25-year-old Gano missed an NFL-high 10 field goal attempts last season, but five were blocked. He's made 74 percent of his attempts since joining the Redskins during the 2009 season, the second-worst percentage in the NFL over that span.
A Pro Bowler in 2010, the 32-year-old Cundiff was cut Sunday after the Ravens decided to keep undrafted rookie Justin Tucker instead of the nine-year veteran.
Tucker went 5-for-5 on field goal tries during Baltimore's first five preseason games and showed more leg strength than the 32-year-old Cundiff. Tucker made two field goals of 50 yards or longer; Cundiff was 1-for-6 last year from that distance.
Tucker was invited to camp as an undrafted free agent to challenge Cundiff, who missed a potentially game-tying 32-yarder against New England in the waning seconds of the AFC title game. Ravens coach John Harbaugh liked the way Cundiff rebounded from the pivotal miss, but decided Tucker was simply the better choice for Baltimore in 2012.
The Redskins attempted only two field goals in their first three preseason games, both by Rackers. He made a 28-yarder and missed from 54.
Information from The Associated Press was used in this report.