European governing body UEFA has 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."
But celebrations were cut short as a flag had been raised against Aleksandar Kolarov for straying marginally offside before crossing for the Argentinian.
Mancini later claimed his team were denied a dramatic win by poor refereeing.
Victory would have kept their hopes of reaching the knockout stages in their hands but the result all but eliminates them from the competition prematurely for a second successive year.
Asked what he said to the official, 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.
"I always believe in my team, but now it is very difficult. But if we win our next two games and go through with eight points, then we will win the Champions League. That will be our destiny.
“We scored ‘three’ goals tonight, but we conceded two stupid goals. You can’t concede two goals from corners in a game like this.
“We had many chances to score today, but probably this is not our moment in the Champions League. Perhaps Dortmund and Real Madrid are better than us, maybe Ajax also.”
Mancini was also involved in a row with a TV cameraman and was reported to have told the man in question that he was "finished".
However, Mancini later clarified his comments, stating: “I did not say this. I said to the camera, ‘finish, go’. The camera wanted to do a film and he followed me. I said, ‘finish, finish’.”