On December 15, 2020, Hilliard was claimed off waivers by the Houston Texans. He signed a contract extension with the team on March 1, 2021, which was reported by Ian Rapoport of NFL Network as a one-year, $1.25 million extension. On August 16, 2021, HIlliard was waived with an injury designation by the Texans and placed on injured reserve. He was released on August 19.
