Terms of the contract were not disclosed, but according to multiple reports, Jones signed a one-year, $3.75 million deal with incentives that could push the total value to $5 million.
Jones, 26, will move back to the defensive line in the Vikings' 4-3 scheme. He said the chance to work with Andre Patterson -- the Vikings' defensive line coach who has helped mold Danielle Hunter, Tom Johnson and Linval Joseph -- was a draw.
He said in a conference call he signed a one-year deal because it "gives me a chance to actually prove myself."
Jones could wind up at defensive tackle if Sharrif Floyd's knee issues continue; the Vikings kept Floyd on his $6.757 million fifth-year option as he continued to rehab from what was initially described as a cleanup in his right knee last fall. Jones said Tuesday he would "absolutely" be open to playing tackle if asked to do so.
Jones, the No. 26 pick in the 2013 draft by the Packers, had just one sack in the 2016 season and totaled nine and a half in four years with the Packers, including the playoffs.
The 2016 season was his first at outside linebacker after moving from defensive end. Jones served in a part-time role, mostly in obvious pass-rushing situations.
Last offseason, the Packers declined to pick up the fifth-year option on Jones' rookie contract.
ESPN's Ben Goessling and Rob Demovsky contributed to this report.