The team announced the move in a statement Monday.
Jordan has appeared in 82 games with 34 starts in six seasons for the Philadelphia Eagles, where current Chiefs coach Andy Reid had been in charge until he was fired this off-season.
Jordan has made 184 tackles, two interceptions and forced two turnovers in his career.
The Chiefs have also signed former Titans linebacker Zac Diles, who played at Kansas State, to help shore up the linebacker position. Kansas City could also attempt to fill one of the biggest voids in its defence through the draft.