The Seahawks made the roster move Tuesday. The team released undrafted rookie defensive back Ray Polk to clear a roster spot.
Palmer played in 43 games over the past three seasons with the Falcons after signing with them as an undrafted free agent in 2010. He started five games and had 21 receptions for 123 yards and three touchdowns with Atlanta. Palmer signed with the New York Giants in the offseason but was released May 29.
The Seahawks now have seven tight ends on the roster heading into camp. Seattle lost key backup Anthony McCoy to a torn Achilles tendon in the offseason.