Estrada played from 1999 through 2001 for the Milwaukee Brewers and Colorado Rockies (2001). In a three-season career, he compiled a 4–1 record with 22 strikeouts and a 7.50 ERA in 36 innings of work.
On January 17, 2004, he broke his hip when the team bus he was on crashed with a van. He returned in the 2006–2007 season, posting a 5–1 record and a 1.96 ERA, while allowing 7.27 hits per nine innings pitched. He was then named Pitcher of the Year in the Venezuelan league, receiving Carrao Bracho Trophy honors.