Daniels, 32, has played every snap of his nine-year career with Gary Kubiak as his coach, in Houston then Baltimore. Kubiak was the Houston Texans’ head coach from 2006-13.
The Broncos also have reached an agreement in principle with backup linebacker Steven Johnson on a one-year deal, according to two NFL sources.
Johnson is entering his fifth season. The Broncos worked out the deal in lieu of tendering him a $1.542 million salary as a restricted free agent.