The 28-year-old Roe didn't give up any hits or walks and had two strikeouts.
"That was special," Orioles Manager Buck Showalter said, according to a report on the team's website. "Especially that we put him in and he pitched two innings and he only had one day off."
Roe, who previously pitched in the majors with the Arizona Diamondbacks and New York Yankees, came into the game with a 1-0 record and 4.44 ERA in 24 relief appearances.
"It's always exciting to get that call," Roe said before the game. "I'm just happy to be here and I'll do whatever I have to do to help the team."
Roe, the great nephew of Pittsburgh Pirates great Bill Mazeroski, was 3-1 with a 2.19 ERA at Triple-A Norfolk this season.
"We really liked him in the spring," Showalter said. "He was a guy we took on every trip and he was another good addition to our depth. I'm happy for him because it's been a long road back for him, too."