Brooks started 13 games at free safely in 2012 and last season split time between free safety and strong safety.
The Ravens need a safety to replace the departed James Ihedigbo, who signed as a free agent with Detroit.
The 5-foot-11, 198-pound Brooks was the 79th pick overall.
Brooks said of the Ravens: ''I love that team, just how physical they are.''
Earlier Friday, Baltimore selected one of Brooks' teammates, nose tackle Timmy Jernigan, with the 48th overall pick. The Ravens took Alabama linebacker C.J. Mosley in the first round.
After taking Brooks, Baltimore had a compensatory pick left in the third round.
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