The Rockets did not disclose the terms of the deal, but Brewer told KRIV-TV in Houston that his contract was for two years.
The 6-foot-7 Brewer spent the 2012-13 season with the New York Knicks and the Oklahoma City Thunder, averaging 3.0 points and 2.3 rebounds in 60 combined games.
The Brooklyn Nets will escape New York for a few days and move their training camp to the Duke University campus in Durham to prepare for the 2013-14 season.
The Nets will spend five days at Duke from October 1 to October 5.
Their first preseason game is October 8 against the Washington Wizards.