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Brock Osweiler threw a 36-yard pass to Jaelen Strong to get Houston to the 12 and Novak's field goal came two plays later.
Odds were favoring the team over the Indianapolis Colts, who came into the match-up with a 2-3 record this season.
Adding some color to the festivities, tailgaters and cheerleaders were adorned in pink to mark Breast Cancer Awareness month.
Indianapolis (2-4) got the ball first in overtime, but Benardrick McKinney sacked Andrew Luck on third down to force a punt.
Osweiler shook off a tough start to throw two touchdown passes in less than 2 minutes in the fourth quarter as Houston (4-2) erased a 14-point deficit to tie it at 23 with 54 seconds left. He found Lamar Miller on a 10-yard catch-and-run TD with 2:47 remaining and, after a stop by the defense, connected with C.J. Fiedorowicz on a 26-yarder that tied it.
Houston's defense forced a punt by Indianapolis to send it to OT.
Luck had a 22-yard touchdown throw in the first quarter and pushed the lead to 20-9 when he dashed into the end zone untouched on a 14-yard run early in the fourth.
Miller scored his first touchdown as a Texan on a 1-yard run on Houston's first drive of the second half, but the extra point failed to leave the Texans down 13-9.
The Texans stopped the Colts on fourth down after that, but Osweiler's pass was intercepted two plays later. Luck's TD run came on the next drive.
The Colts built led 13-0 in the second quarter after two field goals by Adam Vinatieri and a touchdown catch by Jack Doyle. Osweiler and Houston's offense struggled to get going and early and Osweiler had negative-9 yards passing in the first quarter. The Texans cut it to 13-3 at halftime on Novak's 27-yard field goal.
The Associated Press contributed to this report.