Sims started every game last season for the Raiders and recorded 54 tackles and two sacks.
Sims, 28, is a former Cincinnati Bengals third-round draft pick from Auburn.
For his career, the 6-foot-2, 310-pounder has 192 tackles, seven sacks and one interception.
Meanwhile, the Raiders made it official and announced their three-year deal for former Jacksonville Jaguars running back Maurice Jones-Drew.
ones-Drew grew up in Oakland.
For his career, Jones has 8,071 rushing yards and 68 touchdowns.
Jones-Drew previously visited the Pittsburgh Steelers, but they didn't reach a deal.
Jones-Drew led the league in rushing in 2011 with 1,606 yards. He held out in 2012 and then suffered through an injury-plagued season. He had 803 yards rushing last season.
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Aaron Wilson covers the Ravens for The Baltimore Sun