The 43-year-old left-hander ended his free agency Friday and will return to the Detroit Tigers for a third season. Rogers agreed to a one-year deal, representing himself in contract negotiations.
Rogers was 3-4 with a 4.43 ERA in an injury-shortened 2007 season for the Tigers after helping them reach the 2006 World Series.
He was limited to just 11 starts last season after having surgery to remove a blood clot from his left shoulder and repair arteries. He went back on the disabled list later in the year with inflammation in his elbow.
For the first time since 2001, Rogers did not win at least 13 games.
Over 19 seasons, Rogers is 210-143 with a 4.19 ERA and is a four-time All-Star and five-time Gold Glove winner.