The team announced the deal Sunday.
The 34-year old Clark has been one of the more productive tight ends in the NFL during the last decade.
He has 474 catches 5,322 yards and 50 touchdowns in 10 NFL seasons, the first nine of which he spent with the Indianapolis Colts.
Clark's numbers have dipped in recent years, but he still had 47 catches for 435 yards and four touchdowns with the Tampa Bay Buccaneers last season.
He will be in Baltimore on Monday to take a physical.
Information from The Associated Press was used in this report.