Jones takes the place of tight end Gerell Robinson, who was signed to Cleveland's active roster Tuesday.
Jones (6-foot-3, 270 pounds) is a third-year player who has appeared in 12 career games, including three starts, with Indianapolis (2012-13) and Kansas City (2013), totaling three receptions for 42 yards. He was with Buffalo this preseason.
Palmer is a second-year pro who played in all four of Denver's preseason games and caught one pass for 7 yards. He was promoted to the team's active roster following Wes Welker's suspension. But he was inactive for Denver's game against Indianapolis.
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