Johnson and Kenseth are tied for the points lead going into Sunday's race.
Carl Edwards starts on the pole after a qualifying lap of 196.114 mph on Friday. Edwards earned his first pole at Texas, where he is the only three-time Cup winner.
The polesitter has won the last two races at the high-banked 1 1/2-mile track.
Brad Keselowski starts on the front row after a fast lap of 196.100 mph, just ahead of Johnson's 195.943 mph. Kenseth qualified sixth.
Jeff Gordon starts eighth, the same as he did in April at the track before finishing 38th because of a suspension problem. He is third in points, 27 behind Johnson and Kenseth.