He had been designated for assignment on June 24.
Joseph, 26, and pitcher J.C. Sulbaran were acquired from Cincinnati on July 31, 2012, in exchange for pitcher Jonathan Broxton. That was the deal that made Greg Holland the Royals' full-time closer.
Dick Kaegel is a reporter for MLB.com. Alex Smith is an associate reporter for MLB.com. This story was not subject to the approval of Major League Baseball or its clubs.