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On January 4, 2019, Zimmer re-signed with Kansas City on a major league contract.

He made the Royals' 2019 Opening Day roster. He made his major league debut on March, 31, 2019 versus the Chicago White Sox, recording one scoreless inning, with two strikeouts. He was optioned to Omaha on April 8. Zimmer bounced between the Royals and AAA Omaha for most of the year, appearing in 15 games with a 10.80 earned run average at the major league level.

Prior to the start of the 2018 season, Zimmer was designated for assignment on March 28. He was released on April 4, 2018, then re-signed to a minor league contract two days later. He spent the 2018 rehabilitating. He elected free agency on November 3, 2018.

The Royals added Zimmer to their 40-man roster after the 2015 season. In 2016, he pitched only three games due to shoulder fatigue and he underwent surgery, thus ending his 2016 season. Zimmer returned to action in 2017 and pitched for both Northwest Arkansas and the Omaha Storm Chasers, posting a combined 5.40 ERA with 40 strikeouts in 36.2 innings pitched between both teams.

The Kansas City Royals selected Zimmer with the fifth overall pick of the 2012 MLB draft, and he signed with the Royals three days after being drafted. He was assigned to the AZL Royals, and after posting a 0.90 ERA in ten innings, was promoted to the Kane County Cougars, where he pitched to a 2-3 record and 2.43 ERA in six games started. He pitched for the Wilmington Blue Rocks of the Class A-Advanced Carolina League and the Northwest Arkansas Naturals of the Class AA Texas League in 2013, posting a combined 6-9 record with a 4.32 ERA in 22 games between both teams. His season ended prematurely due to tendinitis in his biceps. In 2014, he pitched for the Idaho Falls Chukars, going 0-0 with a 1.93 ERA in 4.2 innings. Zimmer had shoulder surgery in October 2014. Zimmer began 2015 with the Lexington Legends and was later promoted to the Northwest Arkansas Naturals, pitching to a combined 3-5 record, 2.39 ERA, and a 1.14 WHIP in 64 innings.

Zimmer enrolled at the University of San Francisco to play college baseball for the San Francisco Dons as a third baseman. With an All-American at that position, the Dons converted Zimmer into a pitcher. In 2011, he played collegiate summer baseball with the Cotuit Kettleers of the Cape Cod Baseball League. In 2012, he started eight games, 54.3 IP, 2.15 ERA, 2.97 FIP, 9.94 K/9, 1.16 BB/9, 0.88 WHIP, and .218 BAA

Zimmer graduated from La Jolla High School in 2009 where he played and was a member of the Cum Laude Society. He played first base, third base, and pitched 22.1 innings during his senior year. Zimmer batted .410 with a .492 on-base percentage and a .701 slugging percentage, and hit four home runs with 23 RBI. On the mound, Zimmer had a record of 3-3 with a 4.39 ERA. He was named team MVP in 2009, and was also named to the San Diego All-Academic team with a 4.20 GPA.

Kyle Joseph Zimmer (born September 13, 1991) is an American professional baseball pitcher for the Kansas City Royals of Major League Baseball (MLB). The Royals selected Zimmer in the first round of the 2012 Major League Baseball draft.