He played college football at Grand Valley State, where he set the Division II record for sacks,[1] and was selected by the Baltimore Ravens in the fifth round of the 2016 NFL draft.

Judon showed athleticism and strength, finishing top among defensive linemen in the 40-yard dash (fifth), bench press (fifth), and vertical jump (fourth).

[4] Throughout the pre-draft process, Judon had private workouts and meetings with the Carolina Panthers, New England Patriots, Arizona Cardinals, New Orleans Saints, Tampa Bay Buccaneers, and Philadelphia Eagles .

[5] Although he showed a great combination of strength and athleticism, his fourth round grade was mainly due to teams being skeptical over his ability to transfer his skills to the professional game since he played Division II football in college and concerns over his history of injuries.

He competed with Terrell Suggs, Elvis Dumervil, Albert McClellan, Za'Darius Smith, Kamalei Correa, Chris Carter, and Victor Ochi throughout training camp for a job as a starting outside linebacker.

[12] Head coach John Harbaugh named him the backup weakside linebacker behind veterans Terrell Suggs and Za'Darius Smith to begin the regular season.

[14] On October 23, 2016, Judon recorded three combined tackles and made two sacks on New York Jets quarterbacks Ryan Fitzpatrick and Geno Smith in their 24–16 loss.

[citation needed] He competed with Albert McClellan, Terrell Suggs, Za'Darius Smith, Tyus Bowser, Boseko Lokombo, and Tim Williams throughout training camp for the vacant starting outside linebacker job left by the departure of Elvis Dumervil in free agency.

[21] During a Week 2 against the Cleveland Browns, Judon recovered a fumble by quarterback DeShone Kizer, that help set up the Ravens' offense on an eventual touchdown scoring drive in the 24–10 victory.

[22] On October 15, 2017, Judon recorded a career-high 14 combined tackles (12 solo) and sacked Chicago Bears quarterback Mitchell Trubisky twice in their 27–24 loss.

[23] On November 19, 2017, he collected seven combined tackles, two sacks, and forced a fumble during the Ravens' 23–0 win against the Green Bay Packers, earning him AFC Defensive Player of the Week.

[24][25] He finished the season playing in all 16 games with 12 starts, recording 60 combined tackles (50 solo), eight sacks, three passes defensed and two forced fumbles.

[28] In the 2018 season, Judon played in 16 games with eight starts, finishing tied for second on the team with seven sacks, along with 44 combined tackles, three passes defensed, and a forced fumble.

[31] In week 17 against the Pittsburgh Steelers, Judon recorded a strip sack on Devlin Hodges which was recovered by teammate Michael Pierce during the 28–10 win.