Haralson started eight games last season and recorded 35 tackles with 3.5 sacks and one pass deflection.
Haralson is a former San Francisco 49ers fifth-round draft pick from Tennessee.
For his career, Haralson has started 76 games and has 330 career tackles, 25 sacks, five pass deflections, three forced fumbles, four fumble recoveries and 24 special-teams tackles.
At Tennessee, he had 21 career sacks.
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Aaron Wilson covers the Ravens for The Baltimore Sun