Nike, which signed Vick as a rookie in 2001, terminated his contract in August 2007 after he filed a plea agreement admitting his involvement in a dogfighting ring. Vick spent 21 months in prison.
Terms of the deal were not released.
"Michael acknowledges his past mistakes," Nike said in a statement. "We do not condone those actions, but we support the positive changes he has made to better himself off the field."