Keizer spent all of 2018 on the Ravens' practice squad after failing to make the active roster out of training camp. He'll aim to fight his way up the depth chart and carve out a role as a special teams player and depth tight end in 2019.
Keizer was waived by the Ravens on Friday.
Keizer is an athletic undrafted rookie prospect out of Grand Valley State, but was evidently the odd man out in a deep Baltimore tight end group. The 23-year-old will be an unrestricted free agent if he goes unclaimed on waivers.