The Rays selected Madrigal's contract from Triple-A Durham on Tuesday, Ryan Bass of Rays.tv reports.
The 29-year-old joined Tampa Bay on a minor-league deal in late June and will now get a look with the big club. Madrigal posted a .273/.385/.295 slash line in 52 plate appearances for the Angels earlier this season and was hitting well for Durham with an .818 OPS in 47 contests. He'll provide infield depth to help cover the loss of Taylor Walls (hip) who was placed on the injured list Tuesday.