Clemens, played five seasons with the Dolphins, including all 16 games in the 2012 and 2013 seasons. He had a career-high 95 tackles, two interceptions and a fumble recovery in 2012.
He followed that up with 90 tackles, one interception and a career-high eight passes defensed in 2012.
Clemens was drafted in the fifth round of the 2009 draft out of Clemson.
Terms of the deal were not disclosed.
Other free agents joining the Texans this offseason have been S Kendrick Lewis, QB Ryan Fitzpatrick and NT Jerrell Powe.
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