The team signed Andrus on Tuesday, almost a year after his most recent release.
He also was with the Colts in 2006 and 2007 but only lasted until training camp each time. He signed with the New York Giants in January 2008 but was waived in February after their Super Bowl win over New England and rejoined Indianapolis two weeks later. He also has spent time with the Tampa Bay Buccaneers.
Incumbent placekicker Adam Vinatieri recently underwent hip surgery but is expected to return for the regular season.
Information from The Associated Press was used in this report.