HOUSTON—Denver Broncos star linebacker Von Miller has left Sunday's game against the Texans with a knee injury, and the team said he will not return.

Miller suffered the injury during the first quarter, but was able to walk off the field on his own.

Miller was the second overall pick in the 2011 draft and won Defensive Rookie of the Year honors. He was suspended for the first six games of this season after violating the league's drug-abuse policy.

He has started all nine games since his return and has five sacks.

Denver center Steve Vallos was also injured in the first quarter and is out with a concussion.

Houston cornerback Johnathan Joseph injured his foot in the second quarter and will not return.

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