Davis, 27, was the No. 21 overall pick by former Lions general manager Bob Quinn five years ago. In 55 games with Detroit from 2017-2020, Davis totaled 305 tackles, 19 tackles for loss and 10.5 sacks.
Davis signed a one-year deal with the Jets last offseason and made 25 tackles in nine games. He became an unrestricted free agent this offseason, and ultimately returned to the Lions.
The terms of his contract have not yet been disclosed.