Joe Mays Linebacker Joe Mays, fined last year for a hit on Texans quarterback Matt Schaub, now joins Houston’s roster. (Joe Amon/The Denver Post, via AP)

RICHMOND — Free agent linebacker Joe Mays agreed to a contract with the Houston Texans, a person familiar with the situation said.

Mays visited the Washington Redskins on Saturday but left the team’s training camp home in Richmond without completing a deal. He visited the Texans next.

The Redskins had sought to sign Mays to add depth at linebacker after reserve Keenan Robinson suffered a torn pectoral muscle last week. But the Redskins wanted to sign Mays to only a modest deal and team officials knew all along there was a chance they might be outbid or that another team might present him with a better opportunity for playing time. Mays agreed to a one-year deal with the Texans that includes a little less than $300,000 in guaranteed money, the person familiar with the negotiations said.

Mays was released by the Denver Broncos last week. He is a former starter in Denver and would have had a $4 million salary for this season if he’d remained with the Broncos.

Related: Broncos’ Mays suspended, fined $50,000 for hit on Texans’ Schaub

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What’s ahead:

Tuesday’s practices are at 10 a.m. and 3:20 p.m. Here’s our guide to camp, if you’re headed to Richmond.

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Observations: Day 3 | Day 2 | Day 1

Training camp photos: