The 24-year-old began his career in Kansas City after the Chiefs made him the 26th overall pick in the 2011 NFL Draft. Baldwin lasted in Kansas City for just two seasons before being shipped off to San Francisco in an August 2013 trade for 2012 first-round pick A.J. Jenkins.
Baldwin played in a total of seven games for the 49ers last season and caught three passes for 28 yards during his time on the field. Over three seasons, Baldwin has totaled 44 catches for 607 yards and two touchdowns.
To make room for Baldwin on the roster, the Lions released wide receiver Reese Wiggins.