Indianapolis signed the free agent Tuesday and waived fullback Ryan Mahaffey to clear room on the roster.
The 6-foot-5, 338-pound offensive tackle was Denver's first-round pick in 2003, No. 20 overall. He played four seasons with the Broncos before spending two seasons in Detroit, then moved to Cleveland in 2009. Foster spent the 2010 season with the Omaha Nighthawks of the United Football League and resuscitated his NFL career with New Orleans last season.
He has made 57 NFL starts and is the newest addition to an Indy line that is being revamped.