Finnegan is expected to compete for a starting job.
A former Pro Bowl selection, Finnegan could wind up playing opposite Brent Grimes.
Finnegan was cut this week by the Rams following a rough season last year.
Two offseasons ago, Finnegan signed a five-year, $50 million deal to be with the Rams. After a solid 2012 season, he had a disastrous 2013 campaign.
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Aaron Wilson covers the Ravens for The Baltimore Sun