The Padres selected Rengifo's contract from Triple-A El Paso on Wednesday.
With Samad Taylor (oblique) moving to the injured list Wednesday, the Padres will turn to Rengifo to bolster the club's infield depth. The 29-year-old was DFA'd by Milwaukee in June after slashing just .205/.280/.254 across 209 plate appearances, but he's gone 8-for-25 with two homers, seven RBI and five runs scored in six games since signing a minor-league deal with San Diego.