The Lions claimed Donnal off waivers from Baltimore at the cutdown day last year. He was cut and then re-signed by Detroit in October and appeared in two games for the Lions.
Drafted in the fourth round of the 2015 draft by the Rams, Donnal has played in 29 career games at guard and tackle for the Rams, Ravens and Lions. He started six games between 2015 and 2016 for the Rams.
ESPN's Michael Rothstein contributed to this report.