Terms of the deal were not disclosed, but a source told ESPN.com's Pierre LeBrun it was for $675,000.
Chipchura played 53 games for the Coyotes last season, scoring three goals with 13 assists. He also played 15 playoff games as Phoenix made an improbable run to the Western Conference finals, scoring a goal with three assists.
The 26-year-old Chipchura has played five seasons in the NHL with Montreal, Anaheim and Phoenix, with 13 goals and 31 assists.
Information from The Associated Press was used in this report.