Demps, 27, played his first two NFL seasons (2008, 2009) under now-Chiefs coach Andy Reid in Philadelphia. Demps has played the last three seasons with Houston, and he comes off his most productive campaign, notching 35 tackles and defending five passes in 12 games for the Texans.
Demps figures to vie for a reserve role behind Kendrick Lewis and Eric Berry at safety. Moreover, he can contribute on special teams. The Texans credited Demps with nine special teams tackles (six solo) in the 2012 regular season.
In other roster moves, the Chiefs signed undrafted free agent safety Malcolm Bronson and waived rookie cornerback Justin Glenn and first-year cornerback James Rogers.