The four-year, $21.2 million all-guaranteed deal also includes a $13,799,344 signing bonus, a person familiar with the contract told ESPN NFL Insider Adam Schefter.
Joeckel inked the deal Saturday, leaving the team with three unsigned picks.
The Jaguars selected Texas A&M's standout offensive tackle with the second overall pick in April's draft, expecting him to help bolster an offensive line that allowed 50 sacks last season. He immediately moved from the left side to the right, working exclusively with the first-team offense the last two months.
Joeckel allowed just two sacks over his final two seasons with the Aggies, and for months after the season, was widely projected as the top draft pick. Kansas City, though, opted to take Central Michigan's Eric Fisher with the No. 1 choice.
Joeckel was admittedly disappointed, but he quickly put those feelings aside after going second to Jacksonville.
He also embraced the move to right tackle.
"I want to get on the field," he said last month. "I want to help my team win football games, whatever position it might be. If they wanted me to go play guard, I'd go play guard. I definitely would love to be a left tackle in the future, but whatever gets me on the field is what I'd do."
Joeckel has quickly impressed the Jags during organized team activities and minicamps.
"He has excellent movement skills, great balance, he's a very smart kid," offensive line coach George Yarno said last month. "He's working hard. He's going to get better fast. He's competitive. Love what I've seen so far.
"He's so smooth, a fluid mover. He has great, natural balance. His lower body has a lot of power in it. He has a low center of gravity. He has all those things you look for in a tackle, especially. I'm really excited to get to work with him."
Information from ESPN NFL Insider Adam Schefter and The Associated Press was used in this report.