The two-time Pro Bowler was entering the final year of the contract he signed when he signed as a free agent in 2011. The new deal will keep him in Houston for the next three years.
The 31-year-old Joseph started each game for the Texans last season and had a career-high 75 tackles and two interceptions. In his four years in Houston he has 240 tackles, 11 interceptions and has defended 52 passes. He also has returned two interceptions for touchdowns, forced three fumbles and recovered two.
His 11 interceptions with the Texans are tied for second in franchise history.
Joseph was a first-round pick of the Bengals in 2006 and spent his first five seasons in Cincinnati.
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