The Yankees reassigned Allen to minor-league camp Monday, Bryan Hoch of MLB.com reports.
Allen signed a minor-league contract with the Yankees on Tuesday that includes an invitation to spring training, Robert Murray of FanSided.com reports.
Milwaukee signed Allen to a minor-league contract Thursday, Adam McCalvy of MLB.com reports.
Allen elected to become a free agent Thursday.
Allen was designated for assignment by the Yankees on Tuesday.
The Yankees reinstated Allen (hip) from the 10-day injured list Sunday.
Allen (hip) will begin a rehab assignment with Low-A Tampa on Friday.
Allen (hip) faced rehabbing pitcher Nestor Cortes (shoulder) in a simulated game Sunday, Pete Caldera of The Bergen Record reports.
Yankees manager Aaron Boone said Friday that Allen will miss 6-8 weeks due to a right hip flexor strain, Chris Kirschner of The Athletic reports.
Allen was placed on the 10-day injured list by the Yankees on Saturday with a right hip flexor strain.