Home plate umpire John Tumpane warned both benches after the pitch.
Asked by FOX Sports Detroit's John Keating after the game if there was a message sent or if he and Cruz exchanged words, Verlander replied, "No" to both questions.
Verlander told reporters in Baltimore, "It just slipped."
Tigers manager Brad Ausmus, a former catcher, seemed to back up Verlander's claim.
"As skilled as pitchers are at this level, balls get away from pitchers, simple as that," Ausmus told Keating. "Just like I'm sure the ball got away from Bud Norris."
Orioles manager Buck Showalter seemed to think that there was a little inconsistency from the umpiring crew.
"I'm just trying to figure out the consistency of it," Showalter told reporters in Baltimore. "You get one pitch and they read intent on Bud, and you get one pitch that's completely obvious that there's intent there, so why did you issue a warning and not eject him?"
The Tigers have completed their season series with the Orioles, winning five of six.