The team also waived injured linebacker Matt Robinson (hamstring), who will revert to the team's injured reserve if he clears waivers.
The 6-foot-5, 290-pound Beard originally signed with Indianapolis as an undrafted rookie from Cincinnati, where he had 75 tackles and two sacks in four years. He was cut last month.
The Jaguars were without all four starting defensive linemen Monday, with Jared Odrick (knee), Chris Clemons (personal issues), Sen'Derrick Marks (knee) and Roy Miller (knee) missing practice. Clemons and Marks won't play in the team's preseason opener Friday against Pittsburgh.
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