Lorenzo Cain, batting for the first time after a hand injury, drew a walk off Santo Manzanillo in the Royals' seventh inning and scored on Max Ramirez's single to end a 2-2 tie.
Royals starter Luke Hochevar had control problems in his first start, walking three in his 1 2/3 innings, and two of those runners scored.
Logan Schafer's double off Hochevar scored Norichika Aoki, who opened the game with a walk. After Hochevar walked two batters in the second, he was relieved by Francisley Bueno, who yielded an RBI double to Blake Lalli.
Hochevar threw 38 pitches, 20 of them strikes.
"Just jumping back into live action, my body felt good, my arm felt good, I felt like everything was coming out clean," Hochevar said. "For the first one, you're just really feeling out how your body feels, and I felt good."
Brewers starter Chris Narveson, pitching for the first time since sustaining a torn rotator cuff last April, was also relieved in the second inning. He gave up a first-inning run after two outs on Eric Hosmer's single, Billy Butler's walk and Mike Moustakas' RBI single.
"I felt great. I didn't feel like I overdid it," Narveson said. "Sometimes I think when you come back you try to do too much, but I stayed within myself and just tried to pound the zone."
Narveson's pitch count was 30 with 19 strikes.
Bruce Chen, competing with Hochevar for the No. 5 spot in the Royals' rotation, threw two perfect innings.
The Royals tied the score, 2-2, against Josh Stinson with a run on singles by Alex Gordon and Hosmer.
Gordon, Hosmer and Moustakas each had two hits for the Royals. Schafer was 3-for-3 for the Brewers and is 5-for-11, .455.
Up next for Royals: James Shields, centerpiece of the big offseason trade with Tampa Bay, makes his first Cactus League appearance against the Padres at 2:05 p.m. CT on Thursday at Peoria Stadium. Shields is expected to throw just one inning as he prepares for his role as No. 1 starter. Will Smith, hoping to challenge for the No. 5 starting job, will follow Shields. Smith started the opener and worked two perfect innings against the Rangers. Atahualpa Severino will make his final outing before leaving to pitch for the Dominican Republic in the World Baseball Classic.