Jenkins was due to become a restricted free agent on Friday and was looking for the security of a long term deal.
The deal includes a signing bonus of around $6-million.
Jenkins came on late on the season to take over the starting right end job. He started five games for the Packers last season, including the last three at defensive end. He finished with 6 sacks, 48 tackles and two fumble recoveries. Jenkins has tallied a total of 14 sacks in his three seasons with the Packers.