The Texans announced the one-year deal on Friday. However, it was J.J. Watt who alluded to the move a full 45 minutes before the team.
According to reports, the base of the deal is worth $7million for the 2015 Pro-Bowl selection.
The Cardinals released Mathieu this week after he refused to take a pay cut.
Mathieu is coming off a season in which he had 66 tackles and two interceptions for the Cardinals.
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