The Dallas Cowboys agreed to terms with free year contract on Wednesday.
The deal is reported to be worth $50.1 million.
"I'm ecstatic," Carr said on the team's website. "It's been a long, long time and I've been waiting for this opportunity to not only secure myself financially, but also to elevate my game to be at the highest level, which is the Dallas Cowboys. Now it's time to turn my game up another notch."
The signing comes one day after the team released veteran cornerback Terence Newman, which created $6 million against the salary cap for 2012. Carr will play left cornerback for the Cowboys.
Originally a fifth-round draft pick out of Grand Valley State in 2008, Carr started all 64 games during his time in Kansas City. He recorded 237 tackles and eight interceptions.
Orton will most likely be the team's primary backup to starter Tony Romo. The 29-year-old started the first five games of the 2011 season for Denver, but the Broncos decided to go with Tim Tebow.
Orton was released and the Chiefs picked him up. He filled in for an injured Matt Cassel in the final three games, completing 59-of-97 passes for 779 yards with one touchdown and two interceptions for a 2-1 record.
In 71 career games (69 starts) with the Bears, Broncos and Chiefs, Orton has thrown for 14,532 yards with 80 touchdowns and 57 interceptions.
Bernadeau started 20 of the 47 games he played in for the Panthers at both left and right guard.
Vickers played his first five seasons in Cleveland before signing with the Texans as a free agent last year.