The corner had been listed as limited in practice all week.
Joseph injured the hamstring in Week 17 after just seven plays. The 35-year-old corner missed two games earlier in the season due to a hamstring injury. He did not play in the Week 6 matchup against the Chiefs.
While the veteran isn't as spry as his younger years, Joseph brings experience to a Houston secondary that has been roasted this season, allowing 267.2 passing yards per game, fourth-worst in the NFL. His return should help in the effort to slow Mahomes, Tyreek Hill, Sammy Watkins, and the rest of K.C.'s explosive offense.