Financial terms were not immediately known.
Re-signing Tulloch was one of the Lions' goals after he helped them earn a spot in the playoffs for the first time since the 1999 season.
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The Lions extended Calvin Johnson's contract, keeping their All-Pro receiver under contract for eight more seasons, retained defensive end Cliff Avril for at least another season with a franchise tag and re-signed offensive tackle Jeff Backus and backup quarterback Shaun Hill to two-year contracts. Detroit also signed safety Erik Coleman to a one-year deal.
The Associated Press contributed to this report.