Both of the prior responses are correct. 17 years of age is the age of consent in Texas. Any lower and you could commit a crime. While you might beat the rap, you won't beat the ride, and you will have to prove that the contact was non-threat/violence as well as within the three years of age to be entitled to the defense. (You can't prove consensual contact because a person under the age of 17 years is below the age of consent as a matter of law.)
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There is an affirmative defense if you sleep with someone within 36 months of your age (as long as the person is at least 14), but it's a defense. You could still be charged and arrested, you just have a defense to prosecution. So, stick with people your own age, at least 17, and you'll have no problems.