Jurrjens, 27, made his Major League debut with the Tigers in 2007, when he went 3-1 with a 4.70 ERA in seven games (all starts).
"He kind of came on the scene pretty good," manager Jim Leyland said. "Pretty calm, pretty collected, made a good impression. Evidently, he's had a lot of health issues since we've had him."
Jurrjens was traded to the Braves, along with Gorkys Hernandez, in October 2007 for Edgar Renteria. Jurrjens spent five seasons with the Braves, with whom he went 50-36 with a 3.58 ERA. He had double-digit win totals in 2008, '09 and '11 and an ERA under 3.00 in two of those seasons.
In 2010, he had arthroscopic surgery on his right knee for a torn meniscus, and the same knee bothered him again in 2011 after beginning the season on the disabled list.
Jurrjens was signed as a Minor League free agent by the Orioles in February to compete for a rotation spot, but he pitched in just two games for Baltimore, allowing four earned runs in 7 1/3 innings. In 16 starts for Baltimore's Triple-A Norfolk club, he went 6-6 with a 4.18 ERA. Jurrjens was designated for assignment on July 12 and granted free agency last Thursday.
He joins former Tigers starter Jeremy Bonderman in Toledo. Both pitched in the Tigers rotation in 2007. Bonderman signed as a Minor League free agent on July 14 after being designated for assignment by the Mariners.