Lupoi joins secondary coach Joe Whitt Jr. as new members of the Falcons' coaching staff.
Whitt was hired as the secondary coach Thursday.
Whitt was with the Browns during the 2019 season as the defensive backs coach and passing-game coordinator.
The Falcons released Jerome Henderson, who was the defensive passing-game coordinator, and Travis Jones, who was the assistant defensive line coach earlier this offseason.
The team said Henderson and Jones were leaving "to pursue new career opportunities."
Also, tight ends coach Mike Mularkey retired Thursday.
Subscribe to "The Bow Tie Chronicles" podcast with the AJC's D. Orlando Ledbetter on iTunes or on the new AJC sports podcasts page.