The veteran totaled 257 yards and one score on 26 catches in 16 games last season for the New York Giants. Rudolph, a second-round pick in the 2011 NFL Draft, spent his first 10 seasons with the Minnesota Vikings.
The two-time Pro Bowl selection will add experience to the Buccaneers' tight ends roster, which just lost Rob Gronkowski to retirement. Cameron Brate, Cade Otton and Ko Kieft are among the other tight ends on the roster.
Buccaneers rookies will report Saturday to training camp. The rest of the team will report Tuesday.
The Buccaneers will start the preseason with a game against the Miami Dolphins at 7:30 p.m. EDT Aug. 13 at Raymond James Stadium in Tampa, Fla. They will face the Dallas Cowboys in their first regular-season game at 8:20 p.m. Sept. 11 at AT&T Stadium in Arlington, Texas.