The Blue Jays announced the move Friday. Infielder Brent Morel was designated for assignment.
The 25-year-old Hendriks went 1-3 with a 6.85 ERA in 10 games last season with Minnesota. The right-hander from Australia is 2-13 with a 6.06 ERA in three season with the Twins.
Hendriks was claimed by the Chicago Cubs off waivers from Minnesota last December. Later in the month, the Orioles claimed him.
The 26-year-old Morel spent last season in the Chicago White Sox system, mostly in Triple-A. He has played 194 games in the majors and hit .229 with 13 home runs and 54 RBIs.