The Chiefs also signed DE Tim Ward.
Ripkowski, 26, is a former sixth-round pick out of Oklahoma by the Packers back in 2015. He is entering the final year of a four-year, $2,386,396 contract and set to earn a base salary of $705,000 this season when he was waived at the start of the 2018 season.
Ripkowski wound up sitting out the entire 2018 season before signing a futures contract with the Chiefs this past January.
In 2017, Ripkowski appeared in all 16 games for Green Bay and recorded five rushing attempts for 13 yards to go along with seven receptions for 39 yards receiving and no touchdowns.