Terms of the deal weren't disclosed.
The Sacramento Kings waived Lue on Friday. He was acquired from Atlanta on Feb. 16, but never played for the Kings. Lue averaged 6.8 points, 1.8 assists, 1.2 rebounds over 17 minutes in 33 games for the Hawks.
The Mavs are the seventh team in Lue's 10-year career. He was a backup for the Lakers when they won the NBA title in 2001.