Kuroda (2-3) allowed only four hits, walking one and striking out three while tossing 52 of his 87 pitches for strikes.
Chavez's solo shot in the second inning broke a 1-1 tie and the Yanks held on for their seventh win in 10 games.
Jason Hammel (3-1) absorbed the hard-luck loss for the Orioles, surrendering a pair of runs on five hits in a six-inning effort.
Chris Davis got Baltimore's only RBI.
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