The league could still investigate the defender further if new information is discovered, Pelissero adds, but prosecutors cited "insufficient evidence" for clearing him in court.
Meanwhile, Baker faces a mandatory minimum sentence of 10 years and up to life in state prison for the May incident if convicted.
Both players have been on the exempt list since late July and attorneys for each maintained their clients' innocence throughout the offseason.
Acquired from Washington in March, Dunbar will provide a significant boost to a Seattle secondary that already features Shaquill Griffin, Quandre Diggs, Marquise Blair, and recently-added superstar Jamal Adams.
The 28-year-old enjoyed a career year in 2019, picking off four passes and consistently thriving in coverage.