The Yankees sent rookie infielder Thairo Estrada to Triple-A Scranton in a corresponding move. Injured shortstop Troy Tulowitzki, who has been out since April 3 with a calf injury, was moved to the 60-day IL to clear space for Gregorius on the 40-man roster.
Gregorius hit a career-high 27 home runs for the Yankees last year. He hit .268 with 23 doubles and 86 RBIs in 134 games.
Gregorius posted a video to Twitter celebrating his return.
The Yankees enter play Friday with a 39-22 record. First-place New York has a 1 1/2-game lead over the Tampa Bay Rays in the AL East Division.