Foxworth has been struggling to come back from last year's surgery. He played in the first two games this season before sitting out this past Sunday's contest against the Rams.
The Maryland product was originally drafted by Denver in the third round of the 2005 draft. Foxworth played his first three seasons with the Broncos then spent 2008 with Atlanta before heading to Baltimore.
Over 78 games in the NFL, he has amassed 266 tackles, eight interceptions and 51 passes defensed.
The Ravens also signed linebacker Prescott Burgess to the active roster.