The contract is a worth $1.3 million with the opportunity to reach $1.7 million, according to Rapoport.
Haralson started all but one game between 2009 to 2011 before missing all of 2012 with a torn triceps. He had a career-high eight sacks in 2008 after being selected in the fifth round of the 2006 draft, but he posted just two sacks in 2011.
The one-year contract allows Haralson, 29, a season to prove he's healthy and to earn a longer contract in 2014.
Follow Kareem Copeland on Twitter @kareemcopeland.