Authorities say the 23-year-old Ivory, a former Alabama standout, was arrested with another man Wednesday after two people said a pair of men busted down a door and took two Apple iPads and cash.
One of the suspects was allegedly armed with an assault rifle and the other had a knife.
The 6-foot-4 Ivory, who weighs about 310 pounds, and 21-year-old Nicholas Gerald Gibson III are both charged with two counts of burglary. Each man is in the county jail with bond set at $120,000.
Court records aren't available to show whether either man has a lawyer.
Ivory is from Memphis, Tennessee. He signed a free-agent contract with Houston in May.