Terms of the deals for the restricted free agents were not disclosed.
Orlovsky spent last season as the team's third quarterback after injuring his toe in the second preseason game at Cleveland. He is expected to compete with Drew Stanton for the backup quarterback spot next season.
The 6-foot-4, 323-pound Peterman returns for a third season with the Lions. He started 13 games in 2007 at right guard.
Moore, 6-foot-1, 305 pounds, played in all 16 games last season for Detroit. He had 37 tackles and two sacks.