On his Twitter account, Sensabaugh wrote that he was "Headed back to the Big D" and was on his way Wednesday to training camp. A story on the team's website said Sensabaugh got a $2.5 million, one-year contract.
Dallas lost out last week in its pursuit of free agent safety Nnamdi Asomugha, who took a $60 million, five-year deal from NFC East rival Philadelphia.
Sensabaugh, who started 14 games last season, enters his seventh NFL season. He had a career-high five interceptions last season with 71 tackles.