Numbers 35:27
and the kinsman avenger of blood finds him outside the borders of the city of his refuge, and the kinsman avenger of blood slays the manslayer, he shall not be guilty of his blood.
Exodus 22:2
If a thief is found breaking into a house and is smitten so he dies, he that killed him shall not be guilty of his blood.
Deuteronomy 19:6
lest the avenger of the blood pursue the manslayer, while his heart is hot and overtake him, because the way is long, and slay him, whereas he was not worthy of death, inasmuch as he hated him not in time past.
Deuteronomy 19:10
that innocent blood not be shed in thy land, which the LORD thy God gives thee for an inheritance, and the blood shall not be upon thee.