Kennedy, 31, was 9–15 with a 4.28 ERA with the San Diego Padres in 2015. He struck out 174 batters in 168 1/3 innings. The righty has also pitched for the Arizona Diamondbacks and New York Yankees in his nine-year career.
The Royals won the World Series last fall after a 95–67 regular season. Kennedy joins a rotation also featuring Yordano Ventura and Edinson Volquez.
Kennedy has made at least 30 starts in six straight seasons. He has an opt-out clause two years into the five-year deal, reports FOX Sports’s Ken Rosenthal.