Joseph told ESPN on Wednesday he was signing a one-year deal with the Titans.
Titans head coach Mike Vrabel was the Texans' defensive coordinator in 2017, and secondary coach Anthony Midget was with the Texans from 2014 to 2019.
Joseph's role with the Texans diminished last season with him playing less than 60 percent of the snaps, as new acquisitions Bradley Roby and Gareon Conley emerged as the team's top corners.
Joseph, 36, had 51 tackled and one interception in 2019.
Since being a first-round draft pick by the Cincinnati Bengals in 2006, Joseph has 31 interceptions, 195 passes defensed, 7 forced fumbles, 5 fumble recoveries, 754 tackles, eight career touchdowns and two Pro Bowl selections in his career.
He signed a free agent deal with the Texans in 2011.