The Twins outrighted Richards to Triple-A St. Paul on Monday.
Richards was designated for assignment by Minnesota.
The Blue Jays traded Richards to the Twins on Tuesday, Ken Rosenthal of The Athletic reports.
Richards struck out one over two scoreless innings of relief in Monday's 7-3 loss to the Red Sox. He gave up no hits and one walk in the 33-pitch appearance.
Richards will draw the start for the Blue Jays in Saturday's matchup with the Guardians, Keegan Matheson of MLB.com repports.
Richards will serve as the Blue Jays' opening pitcher Tuesday against the Orioles, Mike Wilner of the Toronto Star reports.
Richards walked two and struck out two in a scoreless inning of relief during Sunday's loss to the Yankees.
Richards allowed one run on two hits and a walk over 1.2 innings of relief during Wednesday's Grapefruit League game against the Pirates. He struck out two.
Toronto activated Richards (neck) from the 15-day injured list Friday.
Richards (neck) began a rehab assignment with Triple-A Buffalo on Tuesday.