Rauch, a free agent, got a one-year deal worth $3.75 million. Janssen's agreement is for $1,095,000 and Litsch's for $830,000.
Rauch gets a $3.5 million salary this year, and the Blue Jays have a $3.75 million club option for 2012 with a $250,000 buyout.
Rauch recently underwent arthroscopic knee surgery at the Steadman-Hawkins Clinic in Colorado, a source told ESPN.com's Jerry Crasnick. But he passed his physical exam with no complications before his deal became official, a source said.
Rauch and Octavio Dotel, another offseason signing, are expected to be in the closer's mix for Toronto in 2011. Kevin Gregg, who saved 37 games for the Jays last season, recently signed with the Baltimore Orioles.
A 32-year-old right-hander, Rauch was 3-1 with a 3.12 ERA and a career-high 21 saves in 25 chances for the Minnesota Twins last season. He also has pitched for the Chicago White Sox (2002-04), Montreal (2004), Washington (2005-08) and Arizona (2008-09).
Rauch has a 34-27 career record with a 3.71 ERA and 41 saves.
Janssen, a 29-year-old right-hander, was 5-2 with a 3.67 ERA in 56 games last year. Litsch, a 25-year-old right-hander, was 1-5 with a 5.79 ERA in nine starts before season-ending hip surgery to repair a torn labrum. He made $414,700.
Toronto has seven players remaining in arbitration: major league home run champion Jose Bautista; pitchers Shawn Camp, Jason Frasor, Jesse Litsch and Brandon Morrow; outfielder Rajai Davis; and infielder Yunel Escobar.
Information from ESPN.com senior writer Jerry Crasnick and The Associated Press was used in this report.