The Broncos placed a second-round tender on Wilkinson that will cost them $3.27 million for the 2020 season.
Wilkinson has proved himself as a valuable and versatile backup offensive linemen the past few seasons, starting at guard and right tackle.
Wilkerson, 25, wound up going undrafted out of Massachusetts back in 2017. He later signed on with the Broncos, but was waived coming out of the preseason and later re-signed to their practice squad.
Wilkerson played under exclusive rights tenders each of the past two seasons.
In 2019, Wilkerson appeared in 15 games for the Broncos and started 12 games. Pro Football Focus has him rated as the No. 59 offensive tackle out of 81 qualifying players.