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 quarterfinal replay at Stamford Bridge with the winner facing Manchester City in the semifinals.