Sergeant Major Orjuela enlisted in the United States Marine Corps on 8 November 1994. Immediately after completing recruit training at MCRD Parris Island, South Carolina, he attended the School of Infantry, Camp Geiger, North Carolina. Upon graduating the School of Infantry, and receiving the military occupational specialty of 0311, Private First Class Orjuela received orders to 2d Battalion, 8th Marines and was assigned to Golf Company where he served as an Automatic Rifleman. While assigned to Golf Company he deployed with the 24th Marine Expeditionary Unit to the Mediterranean Sea. In February of 1997, Lance Corporal Orjuela received orders to Parris Island, South Carolina for duty as a Marksmanship Instructor on Khe Sanh and Hue City ranges. During his time there, he served as a Marksmanship Coach and Tower Noncommissioned Officer.

In December of 1999, Sergeant Orjuela received orders to 1st Battalion, 7th Marines, Twenty-Nine Palms, California and was assigned to Alpha Company where he served as a Squad Leader and Platoon Guide. While assigned to Alpha Company, he deployed twice to Okinawa, Japan; 2000 and 2002. Upon returning from deployment in 2002, Staff Sergeant Orjuela received orders to Recruiting School, MCRD San Diego, California. Upon completion, he received orders to Recruiting Station New Jersey for duty as a Canvassing Recruiter at a Permanent Contact Station (PCS), Brick New Jersey. In December 2005, Staff Sergeant Orjuela received orders to 1st Battalion, 6th Marines and was assigned to Alpha Company for duty as Platoon Sergeant.

While assigned to Alpha Company, he deployed to Ramdi, Iraq in support of Operation Iraqi Freedom. After returning from deployment he was promoted to Gunnery Sergeant. Then in 2008, he deployed with the 24th Marine Expeditionary Unit to Helmand Province, Afghanistan in support of Operation Enduring Freedom. After returning from deployment in October 2008, Gunnery Sergeant Orjuela received orders to Weapons Training Battalion, Marine Corps Base, Camp Lejeune, North Carolina for duty as Company First Sergeant for Range Company. In February 2011, he was promoted to the rank of First Sergeant and received orders to Combat Logistics Battalion 5 (CLB 5), Camp Pendleton, California where he served as the Company First Sergeant for Motor Transport, Support, and Headquarters and Service Company.

While assigned to CLB-5, he deployed to Afghanistan in support of Operation Enduring Freedom. In May 2014, First Sergeant Orjuela received orders to Marine Security Forces Battalion, Kings Bay Georgia where he served as the Company First Sergeant for Bravo Company. In May of 2016, Sergeant Major Orjuela was promoted to his current rank and received orders to Combat Logistics Battalion 6 (CLB-6) for duty as the Battalion Sergeant Major. While assigned to CLB-6, he deployed to Sigonella, Italy in support of SPMAGTF-CR-AF. On 23 July 2019, Sergeant Major Orjuela received orders to Marine Air Station, New River, North Carolina, for duty as the station Sergeant Major. Sergeant Major Orjuela holds as Associates of Arts from Campbell University.

His personal awards include the Meritorious Service Medal with gold star in lieu of second award, Navy and Marine Corps Commendation Medal with combat distinguishing device, "V", with gold stars in lieu of fourth award, Navy and Marine Corps Achievement Medal with combat distinguishing device, "V", with gold star in lieu of second award, and Combat Action Ribbon with gold star in lieu of second award.