The City boss was angry at the final whistle after his side were denied a penalty late on in their Champions League clash with the Dutch champions.
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However, Uefa have confirmed that the Italian coach will not be facing any disciplinary action as the match officials did not mention the incident in their match report.
"Nothing was reported neither by the delegate nor by the referee," a Uefa spokesperson told the Guardian.
"No disciplinary proceedings are opened."
Mario Balotelli has also escaped punishment for his involvement in the closing minutes of the game, after the striker had to be held back by captain Vincent Kompany after also approaching the match official.
The decision may come as a surprise, particularly as Uefa handed Arsenal manager Arsene Wenger a fine and a ban following his comments about the referee's performance during Arsenal's 3-1 defeat to Barcelona in 2011.
Wenger also received further punishment for confronting referee Damir Skomina after last season's Champions League defeat by AC Milan at Emirates Stadium.