The deal, which was first reported by NFL Network, is worth $1.187 million with $887,000 fully guaranteed, according to a report by the Houston Chronicle.
Mingo was acquired by the Houston Texans in the Jadeveon Clowney trade with the Seattle Seahawks just before the start of the 2019 season. Mingo played primarily on special teams last season: In 16 regular-season games, he had two quarterback hits and six tackles.
In 110 career games, Mingo has 10 sacks, 220 tackles and one interception.
Mingo, who turned 29 in October, was drafted by the Cleveland Browns with the No. 6 pick in 2013 and traded to the New England Patriots in 2016. In addition to the Seahawks, he also has played for the Indianapolis Colts.
His two best seasons were his first two in the NFL, 2013 and 2014, in which he started 14 games for Cleveland and had seven sacks combined.
ESPN's Sarah Barshop contributed to this report.