Townsend played 20 games during his four years at the club, and was an important member of their drought-breaking flag three years ago.
Moore played eight games, while Menadue featured on 39 occasions.
“Jacob is an outstanding young man and a well-respected player within our group, he leaves the club as a premiership player and life member. We wish him all the best with his future endeavours,” Richmond’s List Manager Blair Hartley told the club’s website.
“Unfortunately Cal missed a great deal of the season with an ankle injury but came back to play a great finals series in the VFL.
“The growth he has shown both on and off the field during his time at the club is a testament to all the hard work he has put in. We wish him well and have no doubt he will forge a successful career in the future.
“During his time at the club Connor has become a popular member of the playing group.
“His work ethic on the training track and his professionalism is second to none. We thank Connor for his time at the Club and wish him all the best for his future career.”