Wayne Lawrence, 35, from Wigan, was discovered attached to a light fitting after he was arrested on suspicion of burglary on 5 January 2004.
The jury at Bolton Coroner's Court said there were no risks that should have been recognised by police.
The court was told Wayne Lawrence had had a "troubled life".
His brother, Philip, died after hanging himself from the light fitting in his cell at a police station in Bootle, Merseyside, in 1996.
Greater Manchester Police detained Mr Lawrence after responding to reports of a break-in at an electrical store in Wigan town centre.
He was put in the back a police van at about 2120 BST on 5 January and was found about 45 minutes later.
He was taken to Royal Albert Edward Infirmary in Wigan but died three days later.
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