Irvin finished the 2018 season with the Atlanta Falcons after being released by the Oakland Raiders in November. He amassed six sacks and one forced fumble between the two clubs.
The 31-year-old signed a four-year, $37-million contract with Oakland in 2016 after spending the first four seasons of his career with the Seattle Seahawks.
Irvin joins a Panthers defense in need of pass-rush help. The team ranked 27th in the NFL with 35 sacks in 2018.