Rucker joins the Browns after playing for AFC North rival Cincinnati.
"Frostee is a player that we targeted in free agency, and we couldn't be happier that he chose to become a member of the Cleveland Browns," said Browns general manager Tom Heckert. "We really like the veteran presence that he will give our young defensive line. He started last year for one of the top defenses in the NFL, and we feel as though he can come in and have that same impact on our defense."
The 28-year-old Rucker compiled a career-high four sacks while starting 11 of 16 games last season.
"We are very excited to add a player of Frostee's caliber to our team," said Browns head coach Pat Shurmur. "He is an outstanding player and an even better person. I look forward to him becoming a productive member of the Cleveland Browns for years to come."
Rucker was drafted by the Bengals in the third round of the 2006 NFL Draft. In 53 career games, he has registered 104 tackles, seven sacks and one interception.