The head coach told the team's website: "I felt like that's what we needed from that third quarterback spot right now. I'm excited to work with him and that's really what it amounts to.
"Three quarterbacks that all have played in games and been in the fire and now we have three at our disposal. We have a great starter and two guys now, two guys to backup that have been in those games."
Skelton made 17 starts in three seasons with the Cardinals before being cut earlier this year.