The Steelers selected Terrell Edmunds in the first round (28th overall) and Marcus Allen in the fifth round (148th overall). The Steelers also signed safeties Morgan Burnett and Nat Berhe in free agency.
The Steelers created $3.125 million in salary cap space with the move.
Wilcox, 27, was acquired by the Steelers in a trade last year with the Tampa Bay Buccaneers, who had signed him as a free agent. In his only season in Pittsburgh, Wilcox appeared in 12 games (one start) and finished with 12 tackles, one interception and one pass defensed.
He spent his first four seasons with the Dallas Cowboys, playing in 58 games (38 starts) and recording 214 tackles, five interceptions, 15 passes defensed and two forced fumbles.