"He threw the ball pretty well," manager Joe Girardi said. "We're pleased with the progress that he's making and we'll take another step."
The right-hander, who has not pitched in the big leagues since April 23 because of a strained teres major muscle behind his pitching shoulder, tossed 58 pitches (37 for strikes).
Pineda's next rehab start will come on Friday for a team yet to be determined, and he will throw about 75 pitches. Girardi said that Pineda would likely make one rehab start after that, increasing to 90 pitches, and then would be considered big league ready.
"At that point, you would feel from a pitch count he's ready to join us," Girardi said.
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.