Numbers 35:27
and the avenger of blood find him outside the border of his city of refuge, and the avenger of blood kills the manslayer, he shall not be guilty of blood,
Exodus 22:2
If the thief is found breaking in, and be smitten so that he dies, there shall be no bloodguiltiness for him.
Deuteronomy 19:6
Lest the avenger of blood pursue the manslayer, while his heart is hot, and overtake him, because the way is long, and smite him mortally, whereas he was not worthy of death, inasmuch as he did not hate him in time past.
Deuteronomy 19:10
that innocent blood not be shed in the midst of thy land, which LORD thy God gives thee for an inheritance, and so blood be upon thee.