The New England Patriots initially acquired Roberts in a trade with the Detroit Lions last Thursday, but the deal was rescinded after a shoulder injury resulted in a failed physical. The Lions waived the 25-year-old later that day.
Green Bay claimed Roberts on Monday, but he'll now be reverted back to the waiver wire.
A fourth-round selection by Detroit in 2017, Roberts caught 13 passes for 146 yards and three touchdowns during his first two NFL seasons. He played in eight games last year before the shoulder injury ended his campaign.