Helton, 38, missed 12 games with inflammation in his left hip. The five-time All-Star has struggled this season, batting a career-low .235 with seven home runs and 34 RBIs in 63 games.
Helton is hitting .320 in his career with 354 home runs, 567 doubles and a franchise-best 2,415 hits.
It was just his fifth time on the DL in his 16-year career.
To make room for Helton, the Rockies optioned right-hander Edwar Cabrera to Triple-A Colorado Springs. Cabrera is 0-2 with a 11.12 ERA in two starts for the Rockies this season.