Yes, they are legal, but only with a permit from Texas Parks and Wildlife. They usually only give this permit to zoos and scientific institutions, and very rarely do they give one to private individuals.
But you can legally own caimans and crocodilians without a permit in Texas. But it comes down to city ordinances. Most of the larger cities in Texas have ordinances against the ownership of a crocodilian in city limits. But if you live in the country or a small town, you can most likely own one. Just make sure to check your local ordinances.