Golden and the Steelers agreed Wednesday to a one-year deal, Adam Schefter of ESPN reports.
The Cardinals are releasing Golden on Friday, Ian Rapoport of NFL Network reports.
Golden finished Sunday's Week 15 loss to Denver with seven tackles (five solo), including one sack.
Golden (toe) doesn't have an injury designation for Sunday's season opener against the Chiefs, Darren Urban of the Cardinals' official site reports.
The Cardinals and Golden (toe) agreed to a one-year extension Friday, Field Yates of ESPN reports.
Golden (toe) was did not participate during the Cardinals' practice Thursday, Darren Urban of the Cardinals' official site reports.
Golden (toe) did not participate during the Cardinals' practice Wednesday, Josh Weinfuss of ESPN.com reports.