Clemons injured a hamstring in Arizona's 42-17 victory over the Lions in Detroit last Sunday. He is the second player Arizona player to go on injured reserve this week. On Tuesday, the team placed inside linebacker Kenny Demens on IR with a torn ACL.
Demens and Clemons both were special teams contributors.
Brooks signed with the Cardinals in May as an undrafted rookie free agent out of Adams State. He was released on Sept. 5 in Arizona's final roster cuts and was signed to the practice squad the following day.
The Cardinals are practicing in West Virginia in preparation for Sunday's game at Pittsburgh.
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