The Lions have signed Roberts to a one-year contract, Michael Rothstein of ESPN.com reports.
Roberts was released by the Jets on Saturday, Brian Costello of the New York Post reports.
Roberts finished the 2019 season with a career-high 63 tackles and added one interception.
Roberts recorded seven solo tackles and a pass defensed in Thursday's 42-21 loss to Baltimore.
Roberts is expected to start at safety Sunday against the Dolphins, dddd reports.
Roberts (calf) is active for Sunday's game against the Bengals, Andy Vasquez of The Bergen Record reports.
Roberts (calf) is officially listed as questionable for Sunday's contest against the Bengals, Manish Mehta of the New York Daily News reports.
Roberts (calf) was a limited participant in Thursday's practice, Manish Mehta of the New York Daily News reports.
Roberts (calf) is trending toward a return to the practice field this week, Ethan B. Greenberg of the Jets' official site reports.
Roberts (calf) won't play in Sunday's game against the Raiders.