Zarek Valentin found Vera in the middle of the field with a pass and the midfielder moved to the edge of the penalty area unmarked, firing a shot to the right side of the goal and past FC Dallas goalkeeper Jimmy Maurer.
Fafa Picault also scored for the Dynamo (3-8-10, 19 points), who saw their MLS-long winless streak extend to 14 games. Houston has not won since a 2-1 decision May 22 against the Vancouver Whitecaps.
Nkosi Tafari and Ricardo Pepi scored second-half goals for FC Dallas (5-9-7, 22 points), who ended a two-game losing streak with the tie. FC Dallas has earned a point in five of their last seven games.
Saturday's 2-2 tie came over three months after the rivals played to a 1-1 tie May 8 at Dallas.
Houston goalkeeper Marko Maric made four saves, while Maurer made two saves for FC Dallas.
Picault knocked down a long pass in the penalty area in the 23rd minute and moved in on goal before he was fouled by Ema Twumasi. Picault then converted from the spot for a 1-0 lead on his sixth goal of the season to tie Maximilliano Urruti for the team lead.
In the 54th minute, the Dynamo could not corral a ball in their own penalty area and it rebounded to the right foot of Tafari, who tied it for FC Dallas from short range. It was his first career MLS goal in 13 games.
Four minutes later, Pepi delivered on a right-footed shot from the center of the penalty area. It was the team-leading ninth goal of the season for the 18-year-old MLS All-Star.
Vera's late goal, his third in 19 games this season, gave the Dynamo a point for the first time since a scoreless tie with Real Salt Lake on July 31 and ended their four-game losing streak.