Numbers 35:27
and the avenger of blood finds him outside the boundaries of his city of refuge, and the avenger of blood kills the manslayer, he shall not be guilty of blood.
Exodus 22:2
If a thief is found breaking in and is struck so that he dies, there shall be no bloodguilt for him,
Deuteronomy 19:6
lest the avenger of blood in hot anger pursue the manslayer and overtake him, because the way is long, and strike him fatally, though the man did not deserve to die, since he had not hated his neighbor in the past.
Deuteronomy 19:10
lest innocent blood be shed in your land that the LORD your God is giving you for an inheritance, and so the guilt of bloodshed be upon you.