He kicked for the Rams for 11 seasons, becoming the franchise's all-time scoring leader with 1,223 points.
Wilkins booted 307 career field goals, 265 as a Ram, and went 39 for 50 from 49 yards or longer.
"Throughout my 11 years with the Rams, everybody in the organization has been fantastic -- from top to bottom," he said. "But retirement is best for me, my family and the Rams."
The former Youngtown State product was a 2003 Pro Bowl selection and his 57-yard field goal in 1998 is the longest ever by a Rams placekicker.
He also set a franchise record with 371 consecutive extra points, which equals the NFL record held by Denver's Jason Elam.
Wilkins also spent two seasons with San Francisco after starting his NFL career with Philadelphia in 1994.