Heinicke came to terms Tuesday with Atlanta on a two-year contract, Mike Garafolo and Ian Rapoport of NFL Network report.
Heinicke is expected to join a quarterback room currently led by second-year pro Desmond Ridder, putting Heinicke in a position to serve as a veteran understudy. An Atlanta native who will turn 30 years old Wednesday, Heinicke logged 24 regular-season starts with the Commanders over the past two seasons and threw for 32 touchdowns against 21 interceptions during that stretch.