He had been confined to his home on electronic monitoring and other restrictions since he was first indicted October 27 during special counsel Robert Mueller's probe of Russian interference in the 2016 presidential election. Cohen hasn't been accused of wrongdoing.
The order marks an end to months of attempts from Manafort to lighten his house arrest restrictions after he was charged and pleaded not guilty to foreign lobbying violations.
Paul Manafort's wife, Kathleen, is escourted out of court after her husband's bail was revoked.
In a separate development, Mr Trump's lawyer Rudy Giuliani said that there is a "good chance" that the president will decide next week whether he will sit down for an interview with Mr Mueller. "I can't just take your phone".
Kilimnik has been "assessed" by the Federal Bureau of Investigation to have ties with Russian intelligence, though the businessman denies this.
Trump and Manafort have known each other for decades.
Third, Manafort sits in jail because he suggested untrue testimony to witnesses.
Manafort served as Trump's campaign chairman from March 29, 2016 until August 19 of the same year.
"I have struggled with this decision", the judge said, after hearing arguments from prosecutors and the defense.
Manafort's attorneys claim that Mueller hasn't provided them with a witness list so that they don't know whom Manafort should be forbidden to contact.
Then-Trump campaign chairman Paul Manafort talks to reporters on the floor of the Republican National Convention in Cleveland in 2016.
"[Manafort] is a guy who is tampering with witnesses in his own case", he said, adding that the former partner at Black, Manafort & Stone embodies "sleaze, corruption and the worst kind of stuff".
Mueller, whose investigation has overshadowed Trump's 18-month-old presidency, is looking into whether any Trump campaign associates coordinated with Russian Federation and whether Trump has unlawfully sought to obstruct the probe. His trial for the Washington case is set for September, but he has another trial scheduled in Virginia for related charges in July.
He had been confined to that Alexandria, Virginia home since his arrest, and was forced to wear a Global Positioning System monitoring device.
And on Thursday New York's attorney general sued the president and members of his family, referring possible tax crimes at Trump's charitable foundation to the Internal Revenue Service.
Prosecutors say that Manafort's work for Ukraine also had a clandestine aspect; according to one indictment, Manafort recruited a number of European political figures to advocate on behalf of Yanukovych and Ukraine, apparently independently.