The 32-year-old Manning played in 35 games for the Texans from 2011-13 and had 124 tackles, four interceptions and 15 pass breakups. He started six games last year before suffering a season-ending right knee injury. He became a free agent and signed with the Bengals, who cut him at the end of training camp.
The Texans cut safety Chris Clemons to make room for Manning.
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