KANSAS CITY, Mo. (AP) — The Chiefs filled one of their pressing needs by signing former Raiders defensive tackle Vance Walker to a three-year contract on Friday.

The Chiefs also announced the signing of linebacker Frank Zombo, who had agreed to terms earlier in the week. Zombo appeared in 16 games for Kansas City last season.

Walker was a seventh-round pick of the Falcons in 2009, and provided valuable depth while appearing in 58 games for them over his first four seasons. He started 15 games for the Raiders last season, making 29 tackles and three sacks.

Walker figures to replace Tyson Jackson, who signed with Atlanta in free agency.