The veteran Red Devils defender clashed with the ex-Liverpool man towards the end of Sunday's game, with referee Howard Webb missing the incident, but has escaped a ban
The Red Devils defender appeared to shove the Spain international to the floor before grabbing him to his feet in an off-the-ball incident when the two sides met at Old Trafford on Sunday.
Referee Howard Webb missed the incident - prompting speculation the FA could hand the 34-year-old a ban, however this has now been ruled out with the official having been shown video footage of the clash.
Chelsea went 2-0 down early on thanks to a goal apiece from Chicharito and Wayne Rooney, before battling back to grab a 2-2 draw with goals from Eden Hazard and Ramires.
The two sides will now battle in out in quarter-final replay at Stamford Bridge with the winners facing Manchester City in the semi-finals.