Infante became a free agent after he was designated for assignment on June 15 by the Royals, then was subsequently released June 21 after clearing waivers.
The 34-year-old Infante, a 15-year Major League veteran who had been with the Royals since 2014, hit .239 in 39 games for Kansas City this season.
Infante played for the Braves for three seasons, from 2008-10, and he earned his only career All-Star nod in his final season in Atlanta.
The Royals owe Infante slightly more than $14 million from the remainder of his contract.
David Adler is a reporter for MLB.com based in New York. Follow him on Twitter at @_dadler. This story was not subject to the approval of Major League Baseball or its clubs.