Brown, 25, will sign for the veteran's minimum to provide wing depth for the Rockets. He averaged 5.2 points and 3.1 rebounds in three seasons for the Bucks. Yahoo Sports first reported the deal.
Brown was thrust into the national spotlight when he alleged police officers targeted him outside a Walgreens store in an incident in Milwaukee on Jan. 26, 2018. Brown reached a $750,000 settlement in his civil rights lawsuit against the city of Milwaukee earlier this month.
Brown alleged that Milwaukee officers targeted him because he is Black. They used a stun gun when he didn't immediately remove his hands from his pockets when ordered to while waiting for a parking citation.
He first filed the lawsuit in June 2018 after body-camera footage was released showing a Milwaukee police officer stepping on his ankle during the arrest while others mocked his potential civil rights complaint.
ESPN's Eric Woodyard contributed to this report.