The trade was announced Friday. Susac was designated for assignment earlier this week after the Brewers signed free agent reliever Matt Albers.
Susac, who turns 28 in March, is expected to compete for playing time behind projected starter Caleb Joseph.
Susac played eight games for Milwaukee last year, going 1 for 12. He spent most of the season at Triple-A Colorado Springs, batting .205 with eight home runs and 35 RBI.
The Brewers got Susac from San Francisco in 2016 in a trade-deadline deal. In 104 games in the majors, Susac has hit .232 with seven homers and 35 RBI.