The base pay bumped up from $2.9 million, while the roster bonuses were reduced from $1 million per game.
At a time in the NFL calendar when most reworked contracts involve a player being squeezed to take less money or be cut, Houston rewarded its veteran corner.
The 35-year-old remains a stellar coverman entering his 14th NFL season (ninth with Houston). Pro Football Focus graded Joseph as its No. 10 rated corner in 2018, and he charted out particularly well in coverage.
Joseph enters the final year of his contract in Houston.