The Italian boss was in danger of being hit with a possible touchline ban or fine after he stormed onto the pitch at the final whistle of City's 2-2 draw against the Dutch side to air his frustrations at match official Peter Rasmussen.
Mancini shouted "it was a goal!" to the referee following two controversial incidents, which included a Sergio Aguero goal being disallowed for offside and a potential penalty claim on Mario Balotelli being dismissed in the dying seconds of the match.
The European governing body have decided against charging Mancini as there were no incidents of misconduct recorded in the referee's report after the clash at the Etihad Stadium.
Despite fighting back from a two-goal deficit to snatch a point last night, City are unlikely to qualify for the knockout rounds of the tournament as they currently reside at the bottom of Group D with just two points.