Peterson signed a minor-league contract with Baltimore on Wednesday, Roch Kubatko of MASN Sports reports.
Peterson spent most of the 2018 campaign within the Orioles' system after being designated for assignment by the Yankees in late April. He wound up playing in 96 big-league games, but the 28-year-old was only able to manage a slash line of .200/.310/.324 with three home runs and 28 RBI in 246 plate appearances. Peterson's ceiling is as a utility man off the bench while his floor is spending most of the 2019 season in Triple-A.