Maualuga, who had been doing rehab work on a side field since camp began July 31, enters his seventh season with the Bengals. He started 12 games last year, missing Games 9-12 with a hamstring injury, and recorded 59 tackles (five for loss) and an interception.
He signed a three-year, $15 million contract extension in March.
Maualuga is the second of five players to receive clearance after beginning camp on either the NFI or Physically Unable to Perform list. Defensive end Margus Hunt returned to practice Tuesday.
Linebackers Vontaze Burfict and Sean Porter remain on the PUP list, while offensive tackle Cedric Ogbuehi, the team's first round pick this season, is on the NFI list.
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