The Spanish Grand Prix stewards have decided no further action was needed over the incident between Carlos Sainz and Daniil Kvyat.
The duo made contact at Turn 1 near the end of the race, while fighting for ninth place.
As a result of the contact, Sainz went off the track and rejoined in front of Kvyat after Turn 2.
Kvyat was under investigation for having changed lines three times to defend his position, while Sainz was investigated for having gained an advantage by cutting the track.
But the stewards deemed no further action was necessary.
"In relation to the alleged breach of Article 20.3 the Stewards accept the statement of the driver of Car 26 (Kvyat), the concurrence of the driver of Car 55 (Sainz) and confirmation from the video evidence, that the first two moves were not defensive and that only the third move was defensive," the stewards said.
"In relation to the alleged breach of Article 16.1 the Stewards agree with the assertions of the drivers and team representatives that this was a racing incident.
"In relation to the alleged breach of Article 20.2 the Stewards consider that Car 55 was in front at the time it entered the corner and accept the evidence of the driver that he slowed in re-joining the track at Turn 2 and gave room at Turn 3 for Car 26, in order to avoid gaining a lasting advantage.
"The driver of Car 26 also admitted that he slowed at Turn 2 and gave room for Car 55 to re-join the track."
Sainz went on to finish in ninth, with Kvyat in 10th.