Las Vegas signed the free-agent safety on Friday, the team announced.
"I never wanted to leave. This was my home. I was drafted here. I feel like I was born to be a Raider," the defensive back said of his return, according to Levi Damien of Raiders Wire.
Joseph spent his first four NFL seasons with the Raiders after being drafted in 2016. The former 14th overall pick became a free agent after the 2019 season and spent last year on the Cleveland Browns.
The 27-year-old, who has yet to play a full season since entering the league, registered 67 tackles, four pass breakups, and one interception through 14 games in his lone campaign with Cleveland.
Joseph adds depth to Las Vegas' safety position, which is considered one of the franchise's biggest needs ahead of the draft.
The Raiders' safety depth chart is highlighted by 2019 first-rounder Johnathan Abram, who appeared in just one game as a rookie but led the team with 86 tackles in 2020.