The 6-3, 252-pound defender joins a trio of former Stanford standouts on the Texans roster in outside linebacker Brennan Scarlett, as well as defensive backs Johnson Bademosi and Justin Reid.
Kalambayi, who was a team captain in college, was appreciative of the chance to become a Texan.
"It's just a great feeling," Kalamayi told the Houston media on a conference call. "I've worked so hard and I've been playing football since I was nine years old."
Kalambayi said he played his high school ball in North Carolina with Texans offensive lineman Kendall Lamm.