The stoppage was required when contact between the two cars sent Maldonado's Williams into the air and then the barriers at Tabac.
Maldonado was unhurt, but the air-fence was dislodged, clipping the car of Chilton's Marussia team-mate Jules Bianchi.
The race was stopped for 25 minutes while the barrier was reconstructed.
The stewards gave Chilton a drive-through penalty for the incident after the restart.
Speaking before being informed of this, Maldonado said the Briton definitely deserved censure.
"It was scary," said Maldonado.
"I didn't expect Chilton to cross my line.
"It is very dangerous and a very quick corner on the track.
"Maybe the stewards need to evaluate very carefully what he did."
Maldonado confirmed that he escaped serious injury.
"I'm OK, I feel OK," he said. "Some contusions but really good."