Roberts, who turned 29 in January, signed with the Lions during the spring of 2016. He won the No. 4 receiving job and became the team's starting punt and kick returner.
As a reserve receiver, Roberts had 14 catches for 188 yards and one touchdown. His biggest catch was a 27-yard reception to set up Matt Prater's game-tying 58-yard field goal against Minnesota in Week 9.
His bigger value for the Lions last season came as a returner, where he had two punt returns for touchdowns -- the first of his career. As a returner, he has 86 career kick returns for 2,047 yards and one touchdown, and 88 punt returns for 729 yards and two touchdowns.
ESPN's Michael Rothstein contributed to this report.