Mankins reported to the team this week after holding out for the first seven games of the season in search of a better contract. He was activated for the 53-man roster Saturday.
To make room for Mankins, cornerback Terrence Wheatley was release. Also, linebacker Tyrone McKenzie was released from the practice squad on Saturday.
Mankins was selected to the Pro Bowl and was a second-team All-Pro pick in 2007 and 2009.