Nolan, a seventh-round pick by the Texans in 2009, missed his rookie year with an injured wrist. He played in 30 games with six starts in 2010-11 for Houston and had 65 tackles, nine passes defensed and three interceptions.
Nolan was cut on Aug. 31 and signed with the Dolphins the next day. He appeared in three games with Miami before being released on Sept. 25.
"We felt we better get Troy back in the fold," GM Rick Smith said. "He understands the system, he knows the scheme and he's made plays for us before. We felt fortunate to get him back in the fold."
Beck has been inactive for all four games this season.