Father-of-five Jimmy Mubenga died while being deported from Britain to his native Angola in October 2010.
The 46-year-old had been restrained by three G4S guards on a British Airways flight.
Initially the Crown Prosecution Service ruled that no charges should be bought but a review was prompted after an inquest ruled he had been unlawfully killed.
Malcolm McHaffie, Deputy Head of CPS Special Crime, said: “We have completed a fresh review of all of the evidence relating to the death of Jimmy Mubenga, including the new evidence arising from the inquest, and decided that three men should be prosecuted for manslaughter.
“There is sufficient evidence for a realistic prospect of conviction and it is in the public interest to prosecute Colin Kaler, Terrence Hughes and Stuart Tribelnig."
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