Urena signed a minor-league contract with the Brewers on Tuesday, Todd Rosiak of the Milwaukee Journal Sentinel reports.
Urena spent last season in Detroit and appeared in 26 games (18 starts) with a 5.81 ERA, 1.60 WHIP and 67:42 K:BB over 100.2 innings. The right-hander should report to big-league camp for the final stages of spring training, but he'll likely open the season at Triple-A Nashville since the Brewers have an established rotation.