The Aurora, Ont., native appeared in 60 games as a rookie with the Dallas Mavericks last season. He averaged 6.6 points, 2.2 rebounds and 5.3 assists on 41.5 per cent shooting.
Nembhard also became the 24th player in NBA history to dish out 23-plus assists in a game when he had 23 dimes against the Bulls on April 12.
The 23-year-old has been moved quite a bit this off-season. He was first sent to the Atlanta Hawks as part of the Lu Dort trade, and the Hawks then traded him along with Buddy Hield to the Charlotte Hornets for Dorian Finney-Smith.
The Hornets waived him on Sept. 26, clearing the way for him to join the Nuggets.