The Angels announced the long-anticipated signing Tuesday night. Baldoquin received an $8 million signing bonus.
The 20-year-old played three seasons in Cuba's top domestic league. He has been living and training in the Dominican Republic for nearly a year since leaving Cuba.
The Angels hadn't signed a Cuban prospect since Kendrys Morales in 2005. Baldoquin is expected to play in the minors this year. But he could be an eventual replacement for shortstop Erick Aybar or second baseman Howie Kendrick, who was traded to the Dodgers last month.
The Angels agreed to terms with Baldoquin in early November, but didn't announce the deal until getting final approval from the commissioner's office.