"I thought he looked good. We put a play count on him," Texans coach Gary Kubiak said, according to the team's Twitter feed. "It's about getting him going again. ... I thought he held up well."
Johnson fell awkwardly running a route on July 29 and had an MRI exam later that day that showed a "mild strain."
Johnson, who turned 31 in July, missed nine regular-season games last season with hamstring injuries and was sidelined from the first organized team activities in the spring after arthroscopic surgery on his left knee.
Johnson said it was "a lot of fun" to return to the practice field Monday.
"I'm glad I'm able to be back out here. I'll keep working," he said, according to the team's Twitter feed.
Information from The Associated Press was used in this report.