Gilman and the Chargers agreed on a two-year, $11 million contract Monday, Jeremy Fowler of ESPN.com reports.
Gilman registered 73 tackles (49 solo), 10 passes defensed, three forced fumbles and two interceptions in 14 games with the Chargers during the 2023 season.
Gilman intercepted one pass and broke up another in the Chargers' 24-22 loss to the Bills on Saturday.
Gilman recorded nine tackles (six solo) and a pass defensed in Sunday's 20-10 loss versus the Ravens.
Gilman recorded seven tackles (six solo) and one pass deflected in the Chargers' Week 10 loss to the Lions.
Gilman (heel) is active for Sunday night's game against the Chargers.
Gilman (heel) was a limited participant in the Chargers' practice Wednesday.
Gilman (heel) has been ruled out for Sunday's Week 7 contest in Kansas City.
Gilman (heel) is inactive for Monday's matchup with the Cowboys.
Gilman (heel) is considered doubtful to face Dallas on Monday Night Football in Week 6.