The team also signed cornerback Benny Sapp and kicker Lawrence Tynes.
A fifth-round draft pick by Kansas City in 2003, Black started 10 of the Chiefs' 16 games last season -- six starts coming at left tackle and four at right tackle.
In three years with the Chiefs, Wilkerson has logged 69 tackles in 43 games.
Sapp has 60 tackles and one interception in two seasons with the Chiefs.
Tynes has played in 32 games with Kansas City since joining the team as a free agent in 2004. He has converted 44 of 56 field goals and 102 of 105 PATs for 234 points.
The Chiefs released wide receivers Kyle Brown, Travis LaTendresse and Ryan Waller and tackle Derek Morris.