The Broncos declined to tender Heath a contract as a restricted free agent a few weeks ago.
Heath, 26, signed with the Texans in 2016 as an undrafted free agent out of Michigan State. He played out the final year of his rookie contract before returning to Houston this past March on a one-year, $1.6 million restricted deal.
Unfortunately, the Texans waived Heath coming out of the preseason and was on and off of their roster last year before eventually being claimed by the Broncos.
For his career, Heath has appeared in 32 games for the Texans and recorded 34 tackles and three sacks.