>>RELATED: Tyler Eifert on why he re-signed with Cincinnati
Their 2014 first-round pick has started 19 of the 68 games he has appeared in over five seasons, primarily serving as the team’s nickel cornerback.
He was fourth on the team last year with 67 tackles and six passes defensed.
The Michigan State product has three career interceptions, three sacks and two forced fumbles.
Dennard was a free agent for nearly two weeks before opting to return to the Bengals.
Earlier in March, the Bengals signed veteran cornerback B.W. Webb to a 3-year deal.
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