The deal is worth $55.643 million, including $21 million guaranteed, according to media reports.
The team posted a photo of Cushing signing thr contract via its Twitter account.
— Houston Texans (@HoustonTexans) September 4, 2013
Cushing was entering the final season of the rookie contract he signed as the No. 15 overall pick in 2009. The timing of the deal is key because the Texans normally don't negotiate new contracts once the season begins.
The Texans allowed at least 25 points in five of the 11 regular-season games he missed.
A Pro Bowler in his rookie season and All-Pro in 2011, Cushing has registered 238 tackles and 9.5 sacks in 49 regular-season games.
Watt offered congratulations to Cushing via Twitter.
Congratulations @briancushing56 on the new deal. Scratch our conversation from today, I think we'll let you cover the dinner bill on Friday.
— JJ Watt (@JJWatt) September 3, 2013
In order to free the salary-cap space to sign Cushing, the team restructured receiver Andre Johnson's deal to reduce a $10.5 million salary this year to $5 million in base salary and $5.5 million in bonuses, a league source said.