Wilkerson's agent, Jody Branion, confirmed the agreement with Bucsblitz.com.
Wilkerson represents the second free-agent signing for the Buccaneers since the free agency period began at 12:01 a.m. on Friday.
Wilkerson (6-2, 290 pounds), a six-year veteran, played mostly as a backup for the Chiefs since being selected in the sixth round by the Chiefs in 2003.
He is considered a natural left defensive end, but is versatile enough to play every line position. Wilkerson will likely be given a shot to replace Kevin Carter and Greg Spires on the left side after both were released on Wednesday.
For his career, Wilkerson has 94 tackles and one sack.
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Matthew Postins covers the Buccaneers for BucsBlitz.com and the Charlotte Sun-Herald in Port Charlotte, Fla. An award-winning member of the Pro Football Writers Association, he appears frequently on Scot Brantley Show from 3-6 p.m. weekdays on WHBO 1470-AM in Tampa-Clearwater.