Terms were not disclosed.
Rodgers-Cromartie, the 16th overall pick in April, is expected to join the club at its Northern Arizona University training camp on Saturday.
The Cardinals have a history of lengthy contract holdouts by draft picks. But Rodgers-Cromartie missed only two practices, both on Friday.
He's expected to arrive in Flagstaff in time for Saturday afternoon's workout.
"I'm glad that it's done," coach Ken Whisenhunt said. "He definitely doesn't have as much ground to make up since it's only one day."
The 6-foot-2, 183-pound Rodgers-Cromartie played at Tennessee State, where he also starred in track.
The Cardinals hope he'll help beef up a pass defense that ranked 28th in the NFL a year ago. But Rodgers-Cromartie isn't guaranteed a starting job.
Cornerbacks Eric Green and Rod Hood played capably last season, but the club is looking to upgrade that critical position.
"We're in a position where we have some guys at the corner that played pretty well for us last year," Whisenhunt said. "And if he shows that he can compete and he can contribute, then he'll get a chance. But he's going to have to earn it, which we expect him (to), even though he was picked in the first round."