According to the Detroit Free Press, Kennard is expected to be signed Wednesday when free agency officially begins at 4 p.m. ET.
Kennard, 26, has the size -- 6-4, 256 pounds -- to play in a versatile defense that shifts between 3-4 and 4-3 fronts under first-year head coach Matt Patricia.
Kennard was a fifth-round pick out of USC in 2014 and played in 52 games with 35 starts for the New York Giants.
Jones, 27, entered the league as an undrafted free agent out of Florida State and spent his first four NFL seasons with the Bears, totaling 260 tackles, four sacks, eight passes defensed and a forced fumble in 63 career games.
The 6-3, 245-pound linebacker had a season-high 90 tackles with two stops in 16 games last season.
The Lions also re-signed safety Tavon Wilson to a two-year deal, the team announced Tuesday.
According to multiple reports, the deal is worth $7 million.
Wilson, who turns 28 on Monday, joined the Lions as a free agent two years ago after spending the first four years of his career with the New England Patriots. He has three interceptions, four passes defensed and 142 tackles across 25 games (23 starts) in Detroit.
A secound-round pick by the Patriots in 2012, Wilson has eight interceptions, 14 passes defensed and 218 tackles through 79 games (27 starts) across six seasons.
--Field Level Media