Johnson, a five-time Pro Bowl selection, missed six games with a hamstring injury. It's the most time he has missed in a season since 2007.
Safety Danieal Manning also returned to the Texans' lineup after missing three games with an ankle injury. Houston was without cornerback Brandon Harris, fullback Lawrence Vickers, guard Thomas Austin, offensive tackle Andrew Gardner, tight end Garrett Graham, defensive end Tim Bulman and newly signed quarterback Kellen Clemens.
Kampman is dealing with a hamstring injury. He also missed the first five games of the season while recovering from a knee surgery.
The Associated Press contributed to this report.