Financial terms were not disclosed.
Minnis, in his third year out of Florida State, where he was an All-American, will fill a void created by the loss of Joe Jurevicius to a knee injury. Tampa Bay made room for Minnis by waiving Charles Lee.
Minnis, who was released on the final roster cutdown by Kansas City on Aug. 31, was a third-round draft pick by the Chiefs in 2001. He lost much of the 2002 season because of a broken toe on his right foot, but started 11 games and caught 33 passes for 511 yards and one touchdown.
For his career, he has 34 receptions for 515 yards and one touchdown. In his senior season at FSU, the Miami native had 63 catches for 1,340 yards and 11 touchdowns.