Urena signed a minor-league contract with the Rockies on Friday, Thomas Harding of MLB.com reports.
Urena was designated for assignment by Milwaukee in early May, and he elected free agency rather than accepting an outright assignment to Triple-A Nashville. However, he'll settle for a minor-league deal with Colorado. The right-hander will work out at the Rockies' extended spring training facility in Arizona before presumably reporting to Triple-A Albuquerque.