The teres minor is a narrow, elongated muscle of the rotator cuff. Supraspinatus , Infraspinatus , Subscapularis , and Teres Minor together This Four Muscle work as rotatory to the Humerus. So, also known as Rotator Cuff. teres minor ORIGIN: Teres minor originates from the lateral border of a dorsal scapular surface. teres minor INSERTION: Teres minor is inserted at greater tubercle of humerus, inferior to the infraspinatus teres minor ACTION: helps to hold the head of the humerus in glenoid cavity. stabilizes the shoulder joint. rotates humerus laterally. Same as Infraspinatus muscle. teres minor NERVE SUPPLY: Teres minor is Supplied by the Axillary nerve.