Burns, 24, was a first-round pick by the Steelers in 2016. He played in 58 games over four seasons in Pittsburgh, recording four interceptions.
In Chicago, Burns will be given the opportunity to compete for a starting spot at cornerback. The Bears have a vacancy after releasing veteran cornerback Prince Amukamara in February. The team currently has Tre Roberson, who was signed out of the Canadian Football League in January, and Kevin Toliver as potential competitors.
The arrival of Burns to the Bears' secondary adds another cornerback to a competition set to unfold.
The Bears haven't yet made the agreement with Burns official.