On March 14, 2019, the Pittsburgh Steelers signed Nelson to a three-year, $25.5 million contract that includes a signing bonus of $7.50 million.
Head coach Mike Tomlin named Nelson and Joe Haden the starting cornerback duo to begin the regular season.

Nelson made his debut with the Steelers in week 1 against the New England Patriots.
 In the game, Nelson made 3 tackles in the 33-3 loss.
Nelson was inactive for the Steelers’ Week 6 victory at the Los Angeles Chargers due to a groin injury.

In week 8 against the Miami Dolphins, Nelson recovered a fumble forced by teammate Mike Hilton on Mark Walton in the 27-14 win.

In week 15 against the Buffalo Bills on Sunday Night Football, Nelson intercepted a pass thrown by Josh Allen and made a 33 yard return during the 17–10 loss.
On March 14, 2019, the Pittsburgh Steelers signed Nelson to a three-year, $25.5 million contract that includes a signing bonus of $7.50 million. Head coach Mike Tomlin named Nelson and Joe Haden the starting cornerback duo to begin the regular season.
Nelson made his debut with the Steelers in week 1 against the New England Patriots.  In the game, Nelson made 3 tackles in the 33-3 loss. Nelson was inactive for the Steelers’ Week 6 victory at the Los Angeles Chargers due to a groin injury.
In week 8 against the Miami Dolphins, Nelson recovered a fumble forced by teammate Mike Hilton on Mark Walton in the 27-14 win.
In week 15 against the Buffalo Bills on Sunday Night Football, Nelson intercepted a pass thrown by Josh Allen and made a 33 yard return during the 17–10 loss.
Steven Nelson