"I said, 'You're going to get in trouble, man,'" Jeter said. "And then he repeated that he wanted a hug, and I said, 'Look out.' That's pretty much what happened."
The fan, who was wearing a headband and appeared to be in his mid-20s, rushed the field while Jonathan Lucroy was batting against Masahiro Tanaka. He was tackled to the infield dirt by two Miller Park security guards.
Fans who trespass onto the field are subject to arrest. Jeter, who once had a female fan rush the field at Yankee Stadium to offer her phone number, said that he was not scared by the incident.
"If you saw his face, it wasn't like he was coming out there angry," Jeter said. "So no, it wasn't scary."
Watching from the third-base dugout, though, Yankees manager Joe Girardi said that he had some concern for the captain.
"I was like, 'Derek, move,'" Girardi said. "Derek just kind of stood there. Obviously he didn't feel threatened, but it's not what you want because you never know what people are up to.
"It happens and it's an unfortunate part of the game, but I thought the Brewers handled it well and got him out quickly and didn't really delay the game long."
Bryan Hoch is a reporter for MLB.com. Follow him on Twitter @bryanhoch and read his MLBlog, Bombers Beat. This story was not subject to the approval of Major League Baseball or its clubs.