Earlier on Thursday the Bears re-signed starting center Roberto Garza to a one-year, $1.5 million contract that included a $100,000 signing bonus and $75,000 workout bonus.
Rosario, a seven-year NFL veteran, was acquired by the Bears via a trade with the Dallas Cowboys on September 2. Rosario appeared in 15 games (three starts) and caught just one pass for 13 yards but did record five special teams tackles.
For his career, Rosario has 100 receptions for 1,119 and eight touchdowns in 106 games and 29 starts.
The Bears could still look to add another tight end to the mix in free agency or the NFL draft to compliment starter Martellus Bennett, who caught a career-high 65 balls for 759 yards in 2013, to go along with five touchdowns.