Sergeant Jan Kingshott and civilian detention officers Simon Tansley and Michael Marsden are also charged with misconduct in a public office, and gross negligence following the death of Thomas Orchard.
Mr Orchard, who was 32 and suffered from schizophrenia, had been arrested for a public order offence in October 2012 and was detained at Heavitree Road police station.
The defendants will go on trial before a High Court Judge on 12 January next year.
How Torbay Hospital bosses are tackling 'risks'
Poor state of buildings impacting staff and patients
RD&E and North Devon hospital waiting times slashed
It's still one of lengthiest in the country
Bus service changes leave villagers in North Devon stranded
Petition started to reinstate former direct route from Barnstaple to Exeter
Demand for action over Teign sewage spills
'This represents a risk to health for residents and visitors'
Cyclist critically injured in Sidmouth
Man, 20s, airlifted to hospital
Council owed £4 million by its own housing company
But it won't sell Mary Archers for student flats
