The veteran has signed a one-year contract that does include the option for another year.
He is following in the footsteps of his teammate Ben Mee, who penned a one-year deal days ago.
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Brentford's director of football, Phil Giles, said: "Josh has been so unlucky with injuries in recent seasons and hasn't played anything like the number of matches he'd have wanted to.
"This makes him and us even more determined to get him back to full health - he has shown amazing mental strength and resilience to take this latest setback in his stride.
"At his best, Josh is a very good Premier League player with attributes that are hard to find elsewhere. I'm sure he'll be back playing at some point in the 2024/25 season, and we can't wait for that to happen."