A person familiar with Guion's deal said the contract was worth up to $1 million. The person spoke on condition of anonymity because the terms were not released.
Guion was drafted by Minnesota in the fifth round in 2008 out of Florida State. He has 90 tackles and five sacks in 68 career games, including 31 starts.
The Packers also have re-signed B.J. Raji, while fellow linemen Ryan Pickett and Johnny Jolly remain free agents.
The 6-foot-4, 315-pound Guion made 13 starts in 2013 with 21 tackles and one sack, which occurred in a 44-31 loss to the Packers on Oct. 27. That turned out to be his best game of the year with six tackles.
Minnesota released Guion on March 6, and the team saved $4 million by cutting him.