The Steelers have retained some veteran depth at tight end.
Palmer (6-5, 252) played three seasons with the Falcons (2010-2012) before joining the Steelers. He has hauled in 22 passes for 131 yards and three TDs in his NFL career.
The 26-year-old Palmer played 49 snaps for Pittsburgh in 2013, according to Pro Football Focus. He will compete for a backup role behind Heath Miller on offense, and he could also vie for some special teams coverage work.