Joseph signed with the Vikings on Tuesday, Greg Auman of The Athletic reports.
Joseph spent the 2020 season on the Buccaneers' practice squad. Now, he'll compete with Dan Bailey -- who missed seven field goals and six extra points last year -- for the Vikings' starting kicker role in 2021. The 26-year-old has suited up for 16 career NFL games, connecting on 17 of 20 field-goal attempts (85 percent) and 34 of 38 extra-point tries (89 percent).