Kemp signed with the Chiefs' practice squad Tuesday, Aaron Wilson of the Houston Chronicle reports.
Kemp played 10 games with the Chiefs this season. While he mostly worked on special teams, he did catch one pass for an 11-yard gain. The 25-year-old ended up signing in Miami after being cut by the Chiefs in December, but he'll return to the Chiefs for another Super Bowl run. Kemp will add depth at wide receiver.