Mims was on the active roster for Kansas City for five games as a rookie last season.
The 6-foot-8, 335-pounder played collegiately at Virginia Union.
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He visited the Ravens' training complex prior to going undrafted two years ago.
The Ravens also signed linebacker Spencer Adkins (University of Miami), wide receiver Tori Gurley (South Carolina), defensive tackle Swanson Miller (Oklahoma State) and tight end Steve Watson (Michigan).
Gurley is a big receiver at 6-foot-4, 232 pounds.
Adkins, 25, is a former Atlanta Falcons sixth-round draft pick who has a dozen career tackles in 24 career games.
Miller, 26, has a previous stint with the New Orleans Saints.
Watson played offense and defense at Michigan.
The son of former Denver Broncos Pro Bowl wide receiver Steve Watson, the younger Watson bench pressed 225 pounds 26 times and ran the 40-yard dash in 4.68 seconds for NFL scouts last spring at the Wolverines' Pro Day.¿
All of those players are now on the Ravens' offseason roster and not eligible for the playoffs. They can begin working out with the team during the offseason program, minicamps and organized team activities.