The incident came during the second half of the Aviva Premiership clash at Welford Road, where pictures appeared to show Cole bite fly-half Ignacio Mieres.
It left blood on the Argentinian's fingers and led former England winger Jon Sleightholme to call for Cole to be banned on Twitter.
However, the Rugby Football Union has confirmed it will not punish Cole for the incident after consideration from citing commissioner Peter Larter.
A statement said: "The RFU citing commissioner has viewed the incident many times and using all the available camera angles and believes it is accidental due to the dynamics of the contact as Dan Cole went to ground. No further action is to be taken."
In addition, Worcester chose not to cite Cole themselves during the four-hour window they had.