The trade comes just hours after new Suns majority owner Mat Ishbia was introduced in Phoenix.
Andy Jassy said "a retailer of content to hundreds of millions of customers with a lot of different viewpoints" has "to allow access to those viewpoints, even if they are objectionable."
The star guard had missed eight games since he was suspended on Nov. 3.
Joe Tsai had previously publicly criticized the star guard for appearing to promote a film with antisemitic material.
Reports had previously emerged that Udoka, the suspended head coach of the Boston Celtics, was expected to fill the role.
The basketball player later clarified on Twitter that he doesn’t condone hate speech and “is about spreading love always.”
The NBA star “currently unfit to be associated” with the team after repeated refusals to apologize for a post praising an antisemitic film, the team said earlier.
The NBA guard and the Brooklyn Nets will each donate $500,000 to anti-hate groups after Irving’s apparent promotion of a much-condemned film.
While not explicitly apologizing, the NBA star took responsibility for the negative impact on the Jewish community caused by his sharing of an antisemitic work.
Sean Marks responded to questions about the suspended Celtics head coach after reports emerged that Udoka was expected to replace Steve Nash.