The Texans tendered Daniels at the highest level even though he is coming off a major knee injury.
Daniels is second in team history with 207 receptions and 2,501 receiving yards and third in touchdowns with 15 in 54 career games. Daniels was selected to the Pro Bowl after the 2008 season.
Also Friday, the Texans signed linebacker Darryl Sharpton, a fourth-round draft pick out of Miami.
Adam Schefter is an ESPN NFL Insider. Information from The Associated Press was used in this report.