Urias threw 60 pitches, allowing two hits and an earned run against Lake Elsinore. He walked one batter and struck out eight.
Urias, the 2022 National League ERA champion, hadn't pitched since May 17 as he recovers from a left hamstring strain. He was being lined up for a return during a June 9-11 series at Philadelphia before experiencing a setback.
The 26-year-old was 5-4 with a 4.39 ERA in 10 starts for the Dodgers this season. His 2.16 ERA last season was the best mark in the NL and second in all of baseball behind Justin Verlander, who had a 1.75 mark with the Houston Astros.
In eight seasons, Urias is 54-21 with a 2.95 ERA in 147 appearances (111 starts) and was the only MLB pitcher with 20 wins during the 2021 season. He finished third in NL Cy Young Award voting in 2022.
Because of injuries, the Dodgers have been operating with a four-man rotation of late, while using bullpen games for the fifth spot. Two of those starters -- Bobby Miller and Emmet Sheehan -- made their major league debuts within the past five weeks. The Los Angeles rotation also has been without Dustin May (forearm) and Walker Buehler (Tommy John surgery).
The Dodgers have not specified how many rehab appearances Urias will need before he returns to the major league rotation.
Reuters contributed to this report.