The Cowboys attempted to trade Charlton the past few years, but no deal ever surfaced and they ultimately elected to move on from him on Wednesday.
Charlton, 24, is a former first-round pick of the Cowboys back in 2017. Dallas made the decision to place him on waivers Thursday.
Charlton is in the third year of his four-year, $10.02 million contract and stands to make base salaries of $1.37 million and $1.83 million over the final two years of the agreement. He has a fifth-year option for the team to pick up in 2020.
In 2018, Charlton appeared in 11 games for the Cowboys and recorded 27 tackles, one sack, a fumble recovery and a pass defense.