The Vikings announced on Thursday afternoon that the deal was done, after Cousins arrived to tour their new suburban headquarters.
ESPN's Adam Schefter reported the terms of the deal: a three-year, $84 million fully guaranteed deal with additional incentives that can boost the overall value of the contract to $90 million.
After four seasons at Michigan State from 2008-11, Cousins was taken in the fourth round of the 2012 NFL Draft by the Washington Redskins.
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In 62 games with Washington, including 57 starts, Cousins threw for 16,206 yards and 99 touchdowns with a 65.5 completion percentage and a 93.7 passer rating.
Zimmer is spot on with the fact that Cousins has had to prove himself.
He will be joining a Vikings a Vikings team that has won the NFC North in two of the past three seasons and made an appearance in the NFC Championship in January.
Cousins' move to Minnesota is part of a league-wide quarterback reshuffling that also has seen Keenum land in Denver, Sam Bradford go to Arizona, Teddy Bridgewater join the New York Jets and AJ McCarron end up in Buffalo.
Trevor Siemian is set to be Cousins' backup after the Vikings traded for the former Broncos' quarterback.