Martin last played for the New York Knicks in 2013-14. He averaged 4.3 points and 4.2 rebounds in 19.8 minutes over 32 games. The 6-foot-9 power forward has also had stints with the Nets, Denver Nuggets and Los Angeles Clippers.
Martin was teammates with current Bucks coach Jason Kidd in New Jersey from 2001-04 and also in New York in 2012-13. Selected with the No. 1 overall pick in the 2000 draft, Martin has posted career per-game averages of 12.5 points, 6.9 rebounds and 1.9 assists over his career.
“Kenyon provides some needed depth to our front court and brings an additional veteran presence to help develop our young team,” Bucks general manager John Hammond said. “He has always been known for his tough-minded, physical approach to the game and we’re excited to welcome him to the Milwaukee Bucks.”
Martin is expected to add depth to a Milwaukee frontcourt thinned by the absence of center Larry Sanders for personal reasons. The 37-year-old is set to fill the roster spot vacated by guard Nate Wolters, who was waived on Friday.
Over 11 games this season, Wolters averaged 2.3 points and 0.9 assists in 12.9 minutes per game, down from 22.6 mpg last season. Wolters' playing time has decreased after Milwaukee signed guard Jerryd Bayless and claimed guard Kendall Marshall off waivers in July.
The Bucks (19-18) are in sixth place in the Eastern Conference. They host the Minnesota Timberwolves (5-29) on Friday.