According to NFL.com, Philadelphia and Brooks, 26, agreed to a five-year deal worth $40 million.
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Brooks has spent his first four seasons in Houston after getting drafted in the third round. He has never played a full 16-game season, but has played at least 14 games in each of the last three seasons.
He will now try to help fortify an offensive line that created little room for star running back DeMarco Murray last year.
