He was originally a fifth round draft pick (157th overall) in the 2005 NFL Draft by the Jacksonville Jaguars out of North Carolina.
Sensabaugh has started 24-of-50 regular season games for the Jaguars, recording 168 career tackles (128 solo) and six career interceptions.
He had his best season in 2008 with career-highs in tackles (82) and interceptions (four) while also earning the most starts of his career (13) after missing most of the 2007 season with a shoulder injury.
The addition of Sensabaugh continues the trend of the Dallas secondary changing.
The Cowboys released veteran safety Roy Williams last week and also traded cornerback Anthony Henry to Detroit for backup quarterback Jon Kitna also.
'Boys sign veteran safety
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