King and the Texans agreed on a one-year, $1.8 million contract Saturday, Aaron Wilson of KPRC 2 Houston reports.
King recorded 11 tackles, including two for a loss, and a pass defensed in the Texans' 36-22 loss to the Browns on Sunday.
King racked up 11 tackles (six solo) and one sack in Sunday's 19-16 overtime win over Tennessee.
King recorded 10 tackles (five solo) in Sunday's 22-17 win versus the Broncos.
King will become the Texans' primary nickelback beginning Sunday against the Broncos, Aaron Wilson of KPRC 2 Houston reports.
The Steelers released King on Wednesday.
King signed with the Steelers on Thursday, Chris Adamski of triblive.com reports.
King recorded six tackles and returned one punt for 16 yards in a 32-31 victory over the Colts in Week 18.
King recorded eight tackles (six solo) and one interception during Sunday's 31-3 loss to the Jaguars.
King recorded seven tackles (three solo) during Sunday's 27-23 loss to the Cowboys.