This opens a 21-day window for Boone to practice with the team before being added to the active roster.
Boone sustained a quad injury back in August and was expected to have a 4-6 week recovery timetable.
Boone, 25, signed on with the Vikings as an undrafted free agent out of Cincinnati back in 2018. He finished the final year of his three-year, $1.717 million contract but Minnesota declined to tender him a contract as a restricted free agent this offseason.
Back in March, the Broncos signed Boone to a two-year contract that includes $2.6 million guaranteed and a $1.6 million signing bonus.
In 2020, Boone appeared in all 16 games and recorded 11 rushing attempts for 59 yards (5.4 YPC) and one touchdown, to go along with two receptions for 10 yards.