It is the third straight year that general manager Steve Keim has made a draft day trade.
Moving down three slots, the Cardinals also pick up the Ravens' fifth round pick, number 158 overall.
Arizona traded back in 2013 in the second round and picked up an extra fourth rounder. In 2014, they traded back in the first round, moving back seven spots from 20 to 27 and picked up an extra third round pick. That pick ended up being receiver John Brown.
Arizona will have two straight picks in the fifth round on Day 3 of the NFL Draft, having the 158th and 159th picks overall.
With the 55th pick overall, the Baltimore Ravens selected tight end Maxx Williams.