The deal is worth $16 million over four years with potential for $400,000 in incentives, Schrager reported.
Sendejo, who made $950,000 last season according to the website spotrac.com, was scheduled to be an unrestricted free agent.
Sendejo started 13 games for the Vikings this past regular season, making 74 tackles and one interception. He has played 63 games five seasons in the NFL, making 195 tackles and two interceptions.
The 28-year-old Sendejo went undrafted out of Rice in 2010 and played a season with the Sacramento Mountain Lions of the United Football League. He then played for the Dallas Cowboys and New York Jets briefly before the Vikings signed him in November 2011.