Daniel Ricciardo was furious after the incident, swearing and calling Dutch teenager Verstappen a "sore loser" and "amateur".
"Inexperience is too kind. It was just immaturity," said the Australian.
However, he said: "Max admitted the mistake and we accept it. I'm sure Daniel will accept it too.
"They have a great relationship - they respect each other."
Indeed, Verstappen said: "It is never my attention to hit anyone, especially not a teammate. I'll apologise to Daniel and the team and we will sort it out."
The championsip resumes at the end of August with the Belgian Grand Prix.