Johnson has been sidelined since suffering a right hamstring injury in a Week 4 game against Pittsburgh, which required minor surgery two days later.
Texans head coach Gary Kubiak rested Johnson after the star receiver felt sore after Monday's workout.
Houston is 5-3 this season, and 2-2 in the weeks since losing Johnson.
Johnson had 25 catches for 352 yards and two touchdowns in the first four games this season. He has scored 52 touchdowns and racked up 9,516 receiving yards since 2003.