The Kansas City Chiefs claimed offensive guard Ricky Henry off waivers from New Orleans and waived long snapper Brad Madison, the team announced today.

Henry (6-4, 310) has played in two games during two NFL seasons with the Chicago Bears (2011) and the New Orleans Saints (2012). He originally entered the NFL as an undrafted free agent with the Bears in 2011, where he served the majority of his time on the club's practice squad roster.

After being released by the Bears on Aug. 31, 2012, he was signed by the Saints, where he served primarily on their practice squad.

Henry was released by New Orleans on Monday, Aug. 19. The Omaha, Neb., native played collegiately at the University of Nebraska, where he earned first-team All-Big 12 honors. He prepped at Omaha Burke High School in Omaha, Neb.

Brad Madison played in 50 games for the University of Missouri on the defensive line, recording 76 tackles (48 solo), 26.5 tackles for loss, 16 sacks, four forced fumbles and one fumble recovery. He added one interception and four passes defensed with the Tigers.

He was a multi-sport athlete at South Harrison High School in Bethany, Mo. Madison originally joined the Chiefs as a rookie free agent on May 1, 2013.