The Houston Rockets signed veteran center year contract on Monday.
"Samuel is someone we had great interest in signing as a free agent," said Rockets general manager Daryl Morey. "He is exactly the rim protector we have been actively pursing and should fit great into coach [Kevin] McHale's system."
The Rockets will be Dalembert's third team in the last three seasons.
Taken by Philadelphia in the first round (26th overall) of the 2001 NBA Draft, Dalembert was dealt by the Sixers to Sacramento after the 2009-10 campaign.
In his lone season with the Kings, the 6-foot-11 Dalembert matched his career average with 8.1 points in 80 games. With 116 blocks, he became the first Kings player to reach the century mark in that category in a season since Keon Clark (150) and Vlade Divac (105) in 2002-03.