The Lions also landed safety Glover Quin and defensive end Jason Jones and retained cornerback Chris Houston.
All-Pro safety Goldson gets a five-year contract worth $41.25 million. He receives $8.25 million per year and $22 million in guaranteed money. He spent the past two seasons on one-year contracts with the 49ers, including last year with the franchise tag for $6.2 million.
"Hard work really pays off. I remember signing up to play football, hiding it from my mom," as a youngster growing up in Harbor City, Calif., Goldson said. "My journey, I wouldn't say it was rough, but it was a little rocky."
Cleveland remained active, agreeing to terms with linebacker Quentin Groves and tackle Desmond Bryant to further bolster a defense that added Ravens linebacker Paul Kruger hours after free agency began.
"With the additions of Paul and Desmond, we believe that we have significantly improved our defense overall, particularly our front seven," Browns CEO Joe Banner said.
Kruger is one of many Super Bowl winners to leave the Ravens, including hard-hitting safety Bernard Pollard, who was released Wednesday. The biggest loss for Baltimore was an expected departure: Lewis announced in early January that he was ending his 17-year career. Then he led the Ravens to the championship.
On Wednesday, he joined ESPN as a studio analyst — an intense one, no doubt.
"I'm ready to bring the same level of passion to this next phase of my life as I brought to the field during my years as a player," Lewis said.
Baltimore signed defensive lineman Chris Canty, offensive lineman Ramon Harewood and running back Damien Berry.
Kansas City added cornerback Dunta Robinson, receiver Donnie Avery and offensive lineman Bryan Mattison to the three free agents it signed the previous day when the marketplace opened.