The St. Paul Pioneer Press reported the signing Sunday. Hilliard also tweeted Sunday that he was ''excited to be part of the Minnesota family!''
Hilliard had 41 rushing yards and a touchdown on 16 carries last season while serving as a blocking back and short-yardage back. He also had five catches for 49 yards and played on special teams.
Hilliard, who is from Kalispell, Mont., rushed for 4,016 yards and 50 touchdowns at the University of Montana. He spent a year on the Dolphins practice squad and then played for Miami during the 2009-2011 seasons.
The Minnesota Vikings have also extended a contract offer to safety Husain Abdullah, and he's mulling it over, according to a person with direct knowledge of the situation.
Abdullah's concussion history - two in the last four years, prompting a five-game stint on injured reserve last season - gave the Vikings pause, but a concussion specialist out of Pittsburgh recently cleared Abdullah, 26, to continue his career.
Abdullah recorded 49 tackles, one sack and one interception in nine games last season. While the Vikings still must address several defensive needs, such as cornerback and linebacker, re-signing Abdullah at a reasonable price would make sense.
In other Vikings free agency news, fullback Jerome Felton is visiting the Vikings, according to the NFL Network's Jason LaCanfora. The five-year veteran has played with the Carolina Panthers, Detroit Lions and Indianapolis Colts.