The safety signed a one-day contract with the Cowboys on Thursday. He was released for salary cap reasons in March.
The 29-year-old Sensabaugh, a Dobyns-Bennett High School alum, started 84 of 112 games for Jacksonville and Dallas. He had 14 interceptions and 469 tackles.
Sensabaugh was a fifth-round pick by the Jaguars in 2005 out of North Carolina. He played for East Tennessee State and transferred to UNC after the Buccaneers' program was shut down for financial reasons in 2003.
His best season came with the Cowboys in 2010, when he had career highs of five interceptions and 10 pass breakups. He also had the only two sacks of his career that year.
He appeared in three playoff games — one with Jacksonville as a rookie in 2005 and two with Dallas in 2009.