Kendricks can have the charge dismissed if he does eight hours of community service, including four hours at four Milwaukee high schools.
Kendricks was arrested in September, 2017, and charged with THC possession. The veteran tight end is currently a free agent, but could still face discipline from the NFL.
Kendricks, 31, is a former second-round pick of the Rams back in 2011. He was in the third year of his four-year, $18.5 million contract when the Rams released him during the offseason.
Kendricks later signed a two-year, $4 million contract that included a $1.2 million signing bonus with the Packers back in 2017.
In 2018, Kendricks appeared in all 16 games for the Packers and recorded 19 receptions for 170 yards receiving and one touchdown.