The Rams used the 171st selection to nab the 6-foot, 190-pound Zuerlein, who kicked 23 field goals last season and missed just one.
Zuerlein broke an NCAA Division II record last season with 21 consecutive field goals, including nine that were 50 or more yards. He kicked two 58-yard field goals last year.
He led the nation with a .952 field goal percentage for any kicker with at least 12 attempts. Zuerlein averaged 10.7 points per game.