Navarro hit .253 with four doubles and five RBIs in 54 games with the Angels last season. The 29-year-old also played in 72 games with Triple-A Salt Lake, batting .329 with two homers and 29 RBIs.
Navarro was drafted by Los Angeles in the 50th round of the 2007 amateur draft.
He has played in 130 major league games, all with the Angels. Over nine minor league seasons, Navarro has a .300 batting average with 48 home runs and 495 RBIs.
To make room for Navarro on the 40-man roster, Baltimore designated outfielder L.J. Hoes for assignment. Hoes was acquired by the Orioles from the Astros in a trade last November.