The 5-10, 205-pound Jenkins, a fifth-year pro, played in the Denver Broncos' first six games of the season before being cut Oct. 23. He made three special teams tackles and one solo tackle from the safety position.
He has not started for the Packers, but made a tackle against the Giants last Sunday.
Originally signed as an undrafted free agent in 1997 by the St. Louis Rams, Jenkins played in 64 games in four years, with 47 starts. He started 13 games in 1998 and 16 in 1999. In those games he made 370 tackles, 274 of them solo, had eight interceptions, and knocked down 25 passes.
Traded to Denver in 2000, the 27-year-old Jenkins started all 16 games for the Broncos and ranked third on the team in tackles with 109 (87 solo).
"He knows our system, because he has played in the Denver system," Sherman said, referring to defensive coordinator Ed Donatell, who came from Denver. "That's invaluable for us."