Joseph was under contract though 2018 before the extension, which was confirmed by the team.
Joseph signed a five-year $31.5 million contract with Minnesota in 2014 after four years with the New York Giants.
At 6-foot-4, 329 pounds, the athletic Joseph is an immovable force in the middle of coach Mike Zimmer's defense. In 2016, Joseph compiled a career-high 77 tackles and four sacks. He's a pivotal spoke in the Minnesota interior as one of the best run-stuffing tackles in the NFL.
With Joseph's, Griffen's and Rhodes' deals done, general manager Rick Spielman will now turn his attention to inking linebacker Anthony Barr to an extension.