The deal was announced Sunday and will become official when he passes a physical.
"We just got better as a team," Ravens general manager Ozzie Newsome said. "To have a successful season, you have to have quality depth across the board. We just added great depth to the interior of our offensive line with Andre."
Gurode was signed to play behind six-time Pro Bowl center Matt Birk, who had surgery on his left knee at the beginning of training camp.
The Cowboys cut Gurode last week for a variety of reasons that included his age and salary, his decision to have knee surgery so late in the offseason that it sidelined him for the start of camp, and the performance by an undrafted, unproven second-year pro in Gurode's absence.
Copyright 2011 by The Associated Press