Gruden was signed to a 10-year contract worth as much as $100 million to replace Jack Del Rio, who was sacked on the same day as the Raiders' season finale.
Cable has spent the last seven seasons working as the assistant head coach/offensive line coach for the Seattle Seahawks before being dismissed on Wednesday. He lasted with the Falcons for just one season, as Atlanta head coach Jim Mora Jr. was sacked at the conclusion of that year, leading Cable to move on to the Raiders.
Oakland went just 17-27 under Cable's direction, and he was sacked after his third season.More news: Trump's vulgarity overshadows shift in GOP immigration policy
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Cable returning to the Raiders seemed highly unlikely after late owner Al Davis detailed Cable's misgivings in a post-firing press conference.
In November of 2009, ESPN reported two women had accused Cable of physical abuse. One of Cable's accusers sued Cable and named the Raiders as a co-defendant.
Bennett will work with new offensive coordinator Greg Olson and Gruden to help right an offense that struggled to find any consistency in 2017.
The hiring of Cable will also net a happier running back in Marshawn Lynch, who had his glory years in the Pacific Northwest with Cable as his offensive line coach. He and offensive coordinator Darrell Bevell were fired after a disappointing season where the Seahawks missed the postseason.