Kansas City re-signed Jennings on Tuesday, Pete Sweeney of ArrowheadPride.com reports.
Jennings joined Kansas City on a reserve/future contract in January but was let go to make room for potential undrafted free agents. However, the 29-year-old has rejoined the team following the conclusion of rookie minicamp. He's appeared in 10 regular-season games in the NFL and has hauled in two of five targets for 32 yards.