SAN DIEGO -- The Royals signed right-hander Brad Penny to a Minor League deal with a Spring Training invite, the team announced on Thursday.

MLBDailydish.com's Chris Cotillo reported the sides had reached agreement on Wednesday.

The 35-year-old Penny hasn't pitched in the Majors since he made 22 relief appearances for the Giants in 2012, posting a 6.11 ERA in 28 innings. According to Cotillo, Penny will enter Royals camp as a starter.

Penny went 11-11 with a 5.30 ERA, while making 31 starts for the Tigers in 2011 -- his last full season as a starter.

Drafted in 1996 by the Marlins, Penny spent parts of five years with Florida, followed by five with the Dodgers. He has pitched for six teams over his 13-year career -- not including a brief stint with the Softbank Hawks in Japan in 2012.

Penny has a 119-100 record with a 4.26 ERA and a 1.37 WHIP. He won two games for the Marlins in the 2003 World Series, but has otherwise struggled in the playoffs, with a 7.66 postseason ERA in nine appearances.

Royals pitchers and catchers report to Surprise, Ariz., on Feb. 14, and their first workout is scheduled for Feb. 15. Position players report Feb. 19.