Noesen previously agreed to a minor league deal with the Penguins but earned a promotion to the NHL after collecting 14 goals and eight assists in 22 games with Wilkes-Barre/Scranton of the AHL. The one-year deal has a prorated annual average value of $700,000.
The 26-year-old Noesen played 159 games combined for New Jersey and Anaheim from 2015-19, scoring 24 goals and dishing out 21 assists.
The Penguins announced the signing shortly after forward Patric Hornqvist left practice on Monday with what coach Mike Sullivan described as a lower-body injury. Pittsburgh is off until Wednesday, when it hosts the defending Stanley Cup champion St. Louis Blues.