Escape

Escape a grapple
To escape a grapple, you must succeed on a Strength (Athletics) or Dexterity (Acrobatics) check contested by the grappler's Strength (Athletics) check.

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Escaping other conditions that restrain you (such as manacles) may require a Dexterity or Strength check, as specified by the condition.
PHB, pg. 195.

Sea Also

Type:
Action
Cost:
1/Turn