The Milwaukee Brewers and infielder Bobby Crosby have agreed to terms on a minor league contract with an invitation to major league spring training.

Crosby, the 2004 American League Rookie of the Year, has been out of baseball since 2010.

The 33-year-old played 70 games for Pittsburgh and Arizona in 2010, hitting a combined .220 with one home run and 13 RBI. In 2004 with Oakland, Crosby took over for Miguel Tejada at shortstop and hit .239 with 22 home runs and 64 RBI. Crosby finished one vote shy of being a unanimous pick for Rookie of the Year. As a result, Oakland signed him to a five-year, $12.75 million deal in April 2005.

Crosby remained Oakland's primary shortstop until 2009 but never could duplicate the success of his rookie season. Injuries appeared to have ended his career, but Crosby will head to spring training in an effort to make the roster as Jean Segura's backup at shortstop.

FOXSports.com's Ken Rosenthal reports Crosby's contract will be worth $800,000 if he makes the major league club. The deal also includes incentives of up to $450,000.