Terms weren't disclosed by the team, but ESPN reported the deal was for five years and $14.75 million, including $8.76 million guaranteed.
With Bulaga signed, the Packers will have all of their players in training camp on time. The team's first practice is Saturday afternoon.
Bulaga, the No. 23 pick in April's draft out of Iowa, is viewed as the Packers' left tackle of the future. The team is giving every indication that they will begin grooming Bulaga to eventually take over for veteran tackle Chad Clifton, who has started 138 games for the Packers over the past 10 seasons and re-signed as an unrestricted free agent after drawing interest from the Washington Redskins in the offseason.
The Packers placed nose tackle Aleric Mullins, an undrafted free agent, on the reserve/did-not-report list.
The Associated Press contributed to this report.