Woods had been with the Steelers since getting claimed off waivers in November 2011. He had eight solo tackles, eight assists and two sacks in 16 games last season. Woods played defensive end and nose tackle while in Pittsburgh.
Woods, who is 6-foot-4 and 307 pounds, also played nine games for Tampa Bay in 2010 and two for Seattle in 2011.
In a team release announcing the move Wednesday, Titans general manager Ruston Webster said that ''Al is a player with great size, strength and toughness. He also has the ability to play all three spots on the defensive line, which adds to his value.''