Nacua was signed to Baltimore's practice squad Saturday, Jamison Hensley of ESPN.com reports.
Nacua spent the offseason with Baltimore and was on the fringe of a roster spot as the preseason came to a close. He'll have a chance to get promoted to the active roster if the team faces a rash of injuries, especially to the secondary.
Nacua was waived by the Ravens on Friday.
Nacua played 216 defensive snaps for the Browns in 2017 , but the Raven's depth at the safety position made the rotational player expendable. The 23-year-old will become an unrestricted free agent if he goes unclaimed on waivers.