Mancini will not face action
UEFA have confirmed that the incident was not reported by either referee Peter Rasmussen or their match delegate at the Etihad Stadium.
Mancini came onto the field after a stormy final few minutes in which Sergio Aguero had a goal disallowed and Mario Balotelli had a penalty appeal turned down.
A UEFA spokesperson said: "Nothing was reported neither by the delegate nor by the referee. No disciplinary proceedings are opened."
City had fought back from 2-0 down to 2-2 and thought they had snatched the lead in the 88th minute when Aguero turned home from close range.
But celebrations were cut short as a flag had been raised against Aleksandar Kolarov for straying marginally offside before crossing for the Argentinian.
In a frantic finish, Balotelli went down in the area after being pulled back by Ricardo van Rhijn in injury time but Danish official Rasmussen blew the final whistle.
Balotelli protested to Rasmussen and eventually needed to be pushed away by captain Vincent Kompany while Mancini remonstrated about the disallowed Aguero goal.
Recalling what he said to the referee, Mancini said: "I said it was a goal. I didn't see the last situation with Mario that was a penalty. I said it was a goal.
"The referee and his staff were really poor."
In his post-match press conference, Mancini was also asked to clarify what he said to a cameraman who followed him onto the field.
He said: "The camera wanted to film me after the game. I said, 'Finish, finish. Do not film me'."
Defender Pablo Zabaleta highlighted the team's frustration.
Zabaleta said: "We knew it was not offside, and on the penalty we were frustrated by the decision. We were frustrated and disappointed by the referee's decisions, but in the end you can do nothing."