The deal is worth $2.298 million fully guaranteed, Pelissero adds.
Robinson spent the first four seasons of his career in Kansas City and was one of the top free-agent wideouts remaining on the market.
A number of teams had reportedly expressed interest in the 25-year-old, but he'll instead rejoin the reigning Super Bowl champions.
The Chiefs selected Robinson in the fourth round of the 2016 draft and his production has improved every year since. He set career highs with 32 catches and 449 receiving yards last season.