Minnesota agreed to a one-year, $13 million contract with veteran wide receiver Jennings, per ESPN's Adam Schefter.
Jennings joins the Vikings after spending the first six years of his NFL career with the San Francisco 49ers, with five of those years on the team's active roster.
In his most recent season, Jennings caught 55 of 90 targets for 643 yards and a career-high nine touchdowns over 15 regular-season games.
He will now join a Vikings receiving corps that features top players Justin Jefferson and Jordan Addison, forming a formidable trio at the position.