NFL Media Insider Ian Rapoport reported Baker signed a three-year contract worth $12 million with $4 million guaranteed, per the lineman's agents Tony Paige and Chitta Mallik.
Baker, 26, appeared in 15 games with the Redskins in 2013, including three starts. He recorded 27 tackles and three sacks. Baker originally signed as an undrafted free agent with the Denver Broncos in 2009. He joined the Redskins in 2011.
The 6-foot-2, 333-pound lineman was a rotational player in 2013 who played valuable minutes down the stretch of the season. The Redskins list him as a nose tackle in the 3-4 scheme, but Baker's penetrating style could allow him to move to defensive end in Washington's defense.