The 25-year-old joined the Ravens from the New York Giants ahead of the 2014 campaign, where he started eight games and made 29 tackles.
The team announced that Hill has signed a two-year deal.
He told their website: "When I first signed and sat down with Ozzie [Newsome], I knew from that point I didn't want to go anywhere. I wanted to be a Raven."
The Ravens open the season against the Denver Broncos.