The 25-year-old was placed on the non-football injury list before the start of camp with a groin injury, but he has now recovered and is reveling in being back on the field.
Sharpton told the Houston Chronicle: "Any time you're on the football field it's a blessing. I think I'm a pretty good competitor.
"I love fighting through the heat and getting on these pads, smashing and banging. I love playing football. I love being back out here."
Sharpton was drafted 102nd overall by the Texans in the 2010 draft.