Robinson signed the deal Tuesday, five days after the team completed its offseason program.
A second-round pick from Penn State, Robinson gets a signing bonus of $873,000. With Robinson under contract, Jacksonville has one unsigned rookie remaining: fellow second-rounder Marqise Lee.
Robinson caught 177 passes for 2,474 yards and 17 touchdowns in three years at Penn State. He had 97 receptions for 1,432 yards and six touchdowns last season.
The Jaguars traded up to select Robinson with the 61st overall selection. He missed most of organized team activities, including a three-day minicamp last week, because of a right hamstring injury.
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