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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