The Bears waived tight end Blake Annen to make room for Lee on the 75-man roster. Annen appeared in five games for the Bears as a rookie in 2014.
NFL teams must trim their rosters to the final 53 by Saturday.
Lee joined the Texans this season as an undrafted free agent out of Bowie State where he caught 107 passes for 1,225 yards and four touchdowns in 40 games.
The Bears wrap up preseason play against the Cleveland Browns at Soldier Field on Thursday (8 p.m. ET).