Denver surrendered its sixth-round choice in the 2007 draft in exchange for Wilkinson, who was the first player chosen overall in the 1994 draft.
Wilkinson, who turns 34 later this month, played only one season in Miami, signing with the Dolphins last summer after the Detroit Lions released him. His departure continues a major overhaul of the Miami defensive line, a unit that had grown old in recent seasons.
Denver plans to use Wilkinson in its defensive tackle rotation and will hope to maximize his productivity by limiting his snaps. The 13-year veteran is still regarded as a solid defender versus the run but is coming off a 2006 season in which he registered just 14 tackles in 10 games.
Once capable of providing plenty of inside push on the pass rush, Wilkinson did not have a sack in 2006.
A former Ohio State star, Wilkinson was chosen by the Cincinnati Bengals to lead off the '94 draft. After four seasons with the Bengals, and a contentious relationship with the front office when dealing on contract matters, he was traded to the Washington Redskins in 1998.
Wilkinson played five seasons in Washington, where he was very productive, then signed with the Lions in 2003.
In 195 career appearances, Wilkinson has 386 tackles, 54½ sacks, seven forced fumbles, four recoveries, five interceptions and 28 pass deflections.
Len Pasquarelli is a senior NFL writer for ESPN.com.