How much time should I leave between an international and a domestic flight?

I’m flying from Singapore to Houston in August, and from Houston I need to take a domestic flight, on a different airline, to Raleigh.

My international flight lands in Houston at 2:10pm. From there I need to get off the plane, go through customs, pick up my bags, check in on my domestic flight and go through security for my domestic flight.

How late should I book my domestic flight to avoid missing it? How much leeway should I give myself? Anyone with international travel experience or experience with the Houston airport care to assist me?

Thanks!