Lechler averaged 49 yards per punt for the Texans last season, which ranked second in the league.
Terms were not disclosed, but the Houston Chronicle reported it was a one-year deal with a $1.4 million base salary and a $600,000 signing bonus.
Lechler, 41, had said he wanted to stay in Houston because he thinks there's a chance to win a championship with the Texans next season.
Texans coach Bill O'Brien has praised Lechler for the way he has changed his punting style in the latter stages of his career. Lechler has been able to direct punts more than he was early in his career.
"I think the guy is a Hall of Fame punter," O'Brien said last season. "I think that he proved it again this year based on the way he's changed his game. ... He did a good job for us."
Lechler was selected in the fifth round of the 2000 draft by the Oakland Raiders. The 18-season veteran has been selected to seven Pro Bowls and is a six-time first-team All-Pro selection.
ESPN's Sarah Barshop contributed to this report.