Also signing a day ahead of the opening of this weekend's rookie minicamp were second-round pick Taylor Moton, an offensive lineman from Western Michigan, and sixth-rounder Alex Armah, a fullback from West Georgia.
Because McCaffrey and Moton share an agent, Joel Segal, Panthers coach Ron Rivera said that helped get the ball rolling.
The eighth overall pick became the first first-round selection from the 2017 National Football League draft to sign a rookie contract.
Samuel joins first-round pick Christian McCaffrey as offensive additions created to expand the options for the Panthers on that side of the ball. That must be decided during the spring prior to the player's fourth season.
It's no secret that the Carolina Panthers in 2016 were completely different from the 2015 team that made it to the Super Bowl.
Latta votes for overtime flexibility bill
House of Representatives passed the Working Families Flexibility Act allowing workers to opt for comp time instead of pay. Beyond this, it is unclear whether a "comp time" arrangement under the bill would satisfy state overtime requirements.
Samuel, from Ohio State, was selected with the 40th overall pick. He finished his career with 6,987 all-purpose yards, with his per-game average of 183.8 leading all active FBS players. Over his last two seasons in college, Hall had 14 sacks and over 36 tackles for loss.
Carolina's five undrafted rookies - linebacker Ben Boulware, wide receiver Fred Ross, defensive end Bryan Cox, wide receiver Austin Duke and cornerback Cole Luke - also signed contracts Thursday.
All undrafted free agents typically sign three-year deals.
Needless to say, after missing the playoffs, the Panthers had a lot of questions to answer in this year's draft, and that's what they did. Those players are wide receiver/running back Curtis Samuel, defensive end Daeshon Hall, cornerback Corn Elder and kicker Harrison Butker.
Armah became the first player in Gulf South Conference history last season to win all-conference on both offense and defense.
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