The 6-foot-5, 346-pound guard is the eighth and final draft pick to sign a contract with Houston heading into the start of training camp on Saturday.
Brooks the 76th overall pick out of Miami (Ohio). He started 41 of 45 games for the Redhawks on the offensive line.
Brooks was named to the Mid-American Conference second team for three seasons. He shifted to right guard in 2011 and recorded 10 blocks that resulted in touchdowns and a career-high 90 knockdowns. The Redhawks' offense averaged 372.9 yards per game last season.