Details were not disclosed, but most late-round picks receive four-year deals.
The former FSU walk-on started the final 43 games of his career at right tackle.
The 6-foot-6, 315-pound Denman is expected to compete for a backup role during training camp.
Denman is now the fifth rookie to sign before camp, which starts next Thursday. Unsigned are defensive end Gaines Adams, guard Arron Sears, safety Sabby Piscitelli, linebacker Quincy Black and running back Kenneth Darby.