Denver fired Joseph a month following a 6-10 year old. He was 1121 in two seasons with the Broncos.
The Cardinals hired Kliff Kingsbury as their head coach on Tuesday. Kingsbury replaced Steve Wilks, who was terminated after a season (3-13).
Arizona additionally announced that Bill Davis was hired as linebackers coach and that Jeff Rodgers was retained as special-teams coordinator.
Davis, who served as Cardinals defensive coordinator in 2009 and 2010, spent the past two seasons as the linebackers coach in Ohio State.