Horton's hiring is the second major one in two days for Chudzinski's staff. On Thursday, fired San Diego coach Norv Turner was named the team's new offensive coordinator. Chudzinski coached the Chargers tight ends for two seasons under Turner.
"As we've said before, an important factor in hiring Rob was our confidence in him being able to put together a top-quality staff," Banner said. "He has assembled an extremely impressive group of coaches, and that will be very beneficial as we develop our players."
Before he went to Arizona, Horton spent seven seasons coaching the Steelers secondary. During his time with Pittsburgh, the Steelers ranked in the top 10 in total defense each season. Horton helped in the development of star safety Troy Polamalu, who selected to six consecutive Pro Bowls with Horton as his coach.
A second-round selection by Cincinnati in 1983, Horton appeared in 147 games -- 99 starts -- for the Bengals (1983-88) and Dallas Cowboys (1989-92). He had 19 career interceptions, 11 fumble recoveries, forced five fumbles and scored five defensive touchdowns. He played in one Super Bowl with Cincinnati and one for Dallas.