Richardson spent the first five weeks of the 2009 season on Kansas City's practice squad.
Richardson (6-6, 319) played in six games for the Chiefs a year ago after entering the NFL as the first of the club's two selections in the sixth round (170th overall) of the 2008 NFL Draft. He started 46 of 49 contests during his four-year collegiate career at Clemson.
Richardson was a three-year starter on the offensive line at Wando High School in Mt.
The Chiefs released LB Justin Rogers on Saturday.
Chiefs sign Richardson to roster
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