Kilgo, 26, is a former sixth-round pick of the Broncos back in 2015. He was in the second year of his four-year, $2,391,556 contract when the Broncos cut him loose during the 2016 season.
The Patriots later claimed him off of waivers and he was on and off of their practice squad the past few years before New England released him a few days into the 2017 regular season. The Jaguars signed Kilgo to their practice squad soon after and he finished out the year in Jacksonville.
Kilgo signed a futures contract with the Texans and had a brief stint on their practice squad before being cut loose earlier in the week.
In 2016, Kilgo appeared in nine games for the Broncos and recorded five tackles and no sacks.