The deal includes $32 million guaranteed.
The Judon agreement was part of a busy Monday for New England.
Agent Drew Rosenhaus told Schefter that New England also has reached deals with former Philadelphia Eagles defensive back Jalen Mills and former Miami Dolphins nose tackle Davon Godchaux. Mills agreed to a four-year, $24 million deal with $9 million guaranteed, while Godchaux received a two-year deal worth up to $16 million that includes $9 million fully guaranteed, according to Rosenhaus.
Also, defensive lineman Deatrich Wise Jr., a fourth-round pick of the Patriots in 2017, reached a deal to return to the team, a source told ESPN's Mike Reiss. And New England also agreed to terms with free-agent defensive tackle Henry Anderson, most recently with the New York Jets, a source told Reiss, confirming an NFL Network report.
Judon, 28, is a two-time Pro Bowl outside linebacker who has been the Ravens' best pass-rusher over the past three seasons. His 30.5 sacks since 2017 is the most for the Ravens during that span, 12.5 more than any other Baltimore player.
Judon was one of three outside linebackers to produce at least 50 tackles, 5 sacks and 20 quarterback hits in 2020. The others were the Green Bay Packers' Za'Darius Smith and the Pittsburgh Steelers' T.J. Watt.
Last season, Judon played under the franchise tag ($16.808 million) after sources told ESPN he had declined Baltimore's offer of a deal that averaged $16.5 million per season.
A fifth-round pick out of Division II Grand Valley State in 2016, Judon has been praised by coaches and teammates for how hard he studies and practices. He is known for doing whatever it takes to win, whether it's playing on the punt return team or setting the edge on run plays.
Judon has 34.5 sacks, 7 forced fumbles and 236 tackles in 76 career games.
As for Godchaux, the Patriots' run defense ranked 26th in the NFL last season (131.4 yards per game), and opponents averaged 4.5 yards per carry, ranking New England's defense 20th in that category.
Godchaux -- who is 6-foot-3 and 311 pounds and entered the NFL as a 2017 fifth-round draft choice out of LSU -- should help address that. Two defensive tackles who played notable roles for the Patriots over the past four seasons -- Lawrence Guy and Adam Butler -- are unrestricted free agents.
Wise was an unrestricted free agent for the first time in his career. He played in all 16 games in 2020, totaling 49 tackles with 2.5 sacks, with the coaching staff playing him more inside instead of at his natural end position to account for other personnel shortcomings.
In all, the 6-foot-5, 275-pound Wise has played in 62 career regular-season games for the team, with 18 starts. He also has played in five playoff games (two starts).
Anderson (6-foot-6, 301 pounds) was released by the Jets on March 2 in a cost-cutting move. He had started 24 games for them over the past three seasons.
Anderson, 29, played more snaps (942) than every Jets lineman except Quinnen Williams over the past two seasons. Similar to Godchaux, Anderson projects to help boost the Patriots' run defense.
ESPN's Mike Reiss and Jamison Hensley contributed to this report.