Martin had been sidelined by right forearm irritation. He made two rehab appearances with Frisco, pitching a scoreless inning in each game.
The 31-year-old Martin is 0-1 with a 5.14 ERA in 16 games in his first season with the Rangers. The Arlington, Texas, native signed a two-year contract with the Rangers in December after spending the previous two seasons in Japan.
Jurado made his major league debut Saturday night against the Chicago White Sox. He allowed four runs and six hits in 4 2/3 innings in Texas' 5-3 loss.
The Rangers announced the moves on Sunday.