Terms of the deal were not disclosed.
Kennedy scored two goals in 13 games with the San Jose Sharks last season, spending most of his time with Worcester of the AHL.
In parts of five NHL seasons with San Jose, Florida, and Buffalo, the 27-year-old has played in 125 regular season games, with 13 goals and 18 assists. Kennedy also has appeared in nine playoff games, with a goal and two assists.
He was originally drafted by the Washington Capitals in the sixth round in the 2005 NHL draft.