Gillaspia, 25, is a former sixth-round pick of the Texans back in 2019. He signed a four-year, $2.6 million contract with Houston and stands to make a base salary of $850,000 for the 2021 season.
The Texans placed Gillaspia on injured reserve in December with a back injury. Houston cut him loose with a failed physical designation last week.
In 2020, Gillaspia was active for seven games and caught one pass for six yards receiving.