Asencio had 20 saves and a 2.15 ERA in 34 games with Triple-A Norfolk. The 30-year-old broke into the majors with Atlanta in 2009 and has also pitched for Cleveland and the Cubs.
Manager Buck Showalter says the Orioles want to see if Asencio can provide bullpen help now and after the July 31 trade deadline. Showalter said Friday, "We wanted to get a feel for what we have before the end of the month."
Jurrjens was removed from the 40-man roster to make room for Asencio. Jurrjens appeared in two games with Baltimore but has been pitching for Norfolk this month.
Baltimore optioned pitcher Josh Stinson to Norfolk on Thursday.