The 6-foot-4, 285-pound defensive end was the No. 26 overall pick in the 2013 draft and then spent four seasons with the Packers. The 27-year-old started seven games over four years for Green Bay with 73 tackles, nine sacks and seven passes defended.
Jones then spent training camp this season with Minnesota before being placed on injured reserve. He eventually was released with an injury settlement, which freed him up to sign with the Lions.
Jones is likely a rotational defensive end for the Lions behind starters Ezekiel Ansah and Anthony Zettel. He will likely compete with George Johnson, Jeremiah Valoaga and Cornelius Washington as rotational ends with Detroit.
He also will join Ansah as 2013 first-round picks on the Lions. The Lions have not officially announced Jones' signing or a corresponding roster move.
The Lions also signed defensive tackle Caraun Reid and waived linebacker Thurston Armbrister.