Urena's contract was selected by the Brewers on Wednesday, Curt Hogg of the Milwaukee Journal Sentinel reports.
Urena signed a minor-league deal with Milwaukee on Tuesday and will be added to the 40-man roster a day later. He made 26 appearances (18 starts) for the Tigers last year and posted a 5.81 ERA and 1.60 WHIP in 100.2 innings. The right-hander should serve as a long reliever for the Brewers and will be available to serve as a spot starter, Adam McCalvy of MLB.com reports.