Taylor is the son of former Pro Bowl running back Fred Taylor.
The 23-year-old was the No. 211 pick in the 2016 NFL Draft by the San Francisco 49ers. He was waived last September before signing on for the Seahawks' practice squad. He was waived on Thursday after his second stint with the Seahawks' practice unit.
In high school, Kelvin surpassed Hall of Famer Emmitt Smith as Florida's all-time leading rusher during his junior season. He ran for 2,423 yards and 41 touchdowns as a senior at Glades Day in Belle Glade, Fla. He totaled 12,121 yards and 191 touchdowns in high school before signing on with the Florida Gators. After battling Matt Jones for carries, Taylor eventually took the lead back role in 2015.
The club announced Saturday that it signed three of six of its draft selections for the 2017 NFL Draft. It also signed 12 college free agents and claimed Taylor.
Kansas City inked fourth-round WR Jehu Chesson, fifth-round LB Ukeme Eligwe and sixth-round DB Leon McQuay III.
Its college free agent signings include: T Corin Brooks; safeties Devin Chappell and Jordan Sterns; WRs Gehrig Dieter, Anas Hasic, Marcus Kemp, Alonzo Moore, and Tony Stevens; TE Wyatt Houston; cornerbacks Ashton Lampkin and JR Nelson; and G Damien Mama.