On March 11, 2017, the Green Bay Packers signed Kendricks to a two-year, $4 million contract that included a $1.2 million signing bonus. On September 10, 2017, in his Packers debut, he had 2 receptions for 18 yards against the Seattle Seahawks. On September 24, 2017, Kendricks caught his first touchdown with the Packers on a 1 yard pass from quarterback Aaron Rodgers in a 27–24 win over the Cincinnati Bengals. On October 7, 2018, he caught his first touchdown of the 2018 season from Rodgers in a 31–23 loss to the Detroit Lions.
Kendricks was stopped for a speeding violation in the early morning hours of September 2, 2017, while heading back to Green Bay from a Wisconsin Badgers football game. He was let go with a warning, but a citation for marijuana possession was issued in December 2017 as a result of a search during the traffic stop. The citation was dismissed in October 2018 but later that month, Kendricks was charged with misdemeanor marijuana possession. In January 2019, an attorney for Kendricks entered a not guilty plea on his behalf. Kendricks later pled no contest and was sentenced to six months probation, with the charge to be dropped if eight hours of community service was completed.