htop tries to read the /proc/pid/io file for each process to get I/O statistics.
Near the end of the /proc/pid/io section of proc(5) we have:
Permission to access this file is governed by a ptrace access mode PTRACE_MODE_READ_FSCREDS check; see ptrace(2).
General ptrace() permissions can be granted with CAP_SYS_PTRACE but we also need CAP_DAC_READ_SEARCH to bypass the file-read permission checks done by the ptrace() access algorithm.
setcap(8) can be used to set both capabilities on the htop executable:
sudo setcap 'cap_sys_ptrace=ep cap_dac_read_search=ep' /usr/bin/htop
The cap bits can be verified with:
sudo getcap /usr/bin/htop
...or reset all together:
sudo setcap '' /usr/bin/htop