The right guard was inactive on Sunday at Buffalo, and spent that day and night in an area hospital after a bout of nausea.
"He did a good job," head coach Bill O'Brien said of Brooks on Wednesday. "He was out there. He looked fine."
O'Brien said he thinks Brooks was suffering from a "24-hour bug".
Brooks and the Texans practiced outside at the Houston Methodist Training Center. He's started 10 games in 2015.
