The Texans had wanted back veteran safety Quintin Demps since the end of last season, and they got him Thursday.
Demps signed a one-year contract for $1.5 million with $260,000 guaranteed. He started opposite Andre Hal last season when the Texans finished 9-7, ranked third in defense and won the AFC South title.
Demps, who turns 31 in June, enters his ninth season. Last season was his second tour with the Texans. He signed early in training camp, and replacing Rahim Moore in the starting lineup, they finished 7-2.
Demps finished with a career-high 61 tackles.