Torrealba appeared in just 10 games for Toronto, batting .214 (6-for-28) with one homer. He also spent time this season with the Rangers, for whom he hit .236 with three homers in 49 contests.
The 34-year-old signed a Minor League deal with the Blue Jays in August. At the time, both sides agreed that when J.P. Arencibia eventually returned from the disabled list, it was possible Torrealba would be allowed to move on to another team.
"It was part of the agreement in which he came here," manager John Farrell said. "When J.P. was injured and we needed catching depth, we signed Yorvit with the understanding that once J.P. comes back, if there's an opportunity elsewhere, we'll facilitate that, and that's in fact the case here."
The veteran backstop has played in the postseason with the Giants (2003), Rockies ('07, '09) and Rangers ('11) during a 12-year career with six teams. He would not be eligible for postseason play should the Brewers qualify, however.
Milwaukee entered Friday 2 1/2 games behind the Cardinals for the second Wild Card spot in the National League.