Las Vegas released Hurst last week along with pass-rusher Arden Key, who signed with San Francisco on Wednesday.
Hurst, a fifth-round pick, and Key, selected in the third round, were part of coach Jon Gruden's first draft class in his second stint with the Raiders in 2018.
Hurst had a half-sack and 27 tackles in 11 games last season. He was forced to miss time with knee and ankle injuries and was also placed on the COVID-19 list.
The 25-year-old racked up 76 tackles, eight sacks, and one forced fumble in three seasons in Las Vegas.