The 30-year-old joined United on loan towards the end of last season but only featured in one reserve game, mainly due to injury.
"He is on the radar as are a number of other players," Simon Grayson said. "We need competition for places all over the field and if I feel I need to bring in another keeper and have three then Darryl's ideal for me. Darryl is a good lad, he trained well and had an impact on what we did at the end of last season."
Flahavan joined the Eagles last summer from Southend where he made over 300 appearances, but he has only managed three starts for Palace.