The Lions did not disclose terms, but a source told ESPN that Walker signed a one-year deal worth $1.6 million. If Walker plays 65 percent of snaps in 2016, he could boost the salary to $2.25 million, the source told ESPN.
Walker is the first major signing for new general manager Bob Quinn, who took over the football operations of the team in January.
Walker who will turn 26 on March 18, signed a one-year deal with Detroit last offseason that ended up being worth $1.75 million, including bonuses. He entered camp having to compete for a starting tackle spot next to Haloti Ngata and won the job
Walker was in line for a good season, making nine tackles in his first four games before breaking his left leg and dislocating his left ankle in Week 4 against Seattle.
The 6-foot-3, 305-pound defensive tackle was placed on injured reserve and spent the rest of the season recovering. He posted an Instagram video of himself riding a bicycle in January to show his rehabilitation process.
Walker has played in 27 career games after going undrafted out of Tulsa in 2012. He's made 37 tackles with 3.5 sacks and a forced fumble.