ESPN.com's Marc Stein first reported on Thursday that Dallas and Dalembert reached a verbal agreement on a deal. Yahoo! Sports reported that it will be a two-year deal with the second year of the contract partially guaranteed.
"We are glad to have Sam on board," Mavs coach Rick Carlisle said via text message. "He is a rebounder/rim protector who I believe is a bit underrated offensively. He's by far the best unrestricted free-agent center available at this time."
By joining the Mavs, Dalembert is joining his fifth team in five years. Dalember, 32, will be a stop-gap option for the Mavs as they missed out on Dwight Howard and decided to not make an offer to Andrew Bynum.
Dalembert likely will be the team's starting center on opening night. Dalembert has played a total of 774 games (605 starts) and has career averages of 8.0 points, 8.1 rebounds and 1.8 blocks in 25.2 minutes per game.
Last season, the 6-foot-11, 250-pound big man started 23 games for the Milwaukee Bucks and averaged 6.7 points, 5.9 rebounds and 1.1 blocks in 16.3 minutes per game.
ESPNDallas.com has reported the Mavs will bring back forward Brandan Wright, barring an unforeseen development.
Information from ESPNDallas.com's Tim MacMahon was used in this report.