Joseph spent the last two seasons at the helm of the Broncos, posting an 11-21 record. He coordinated the Miami Dolphins' defense for one season before going to Denver and was a longtime defensive backs coach prior to that.
The Cardinals are also close to adding Steve Sarkisian as their offensive coordinator, according to ESPN's Chris Mortensen. Sarkisian held the same role with the Atlanta Falcons for the previous two seasons, and he's had head-coaching jobs at USC and Washington.
New Cardinals head coach Kliff Kingsbury noted his desire to install more experienced coaches in coordinator positions when he was introduced in Arizona.