The FA decided there was "no case to answer" over the claim that he said "shut up you monkey" to John Obi Mikel. But they said the complaint by Mikel's team-mate Ramires was "made in good faith."
Clattenburg said the last few weeks had been "the most stressful of his life," adding: "I am looking forward to putting this behind me and concentrating on refereeing.
"I am extremely grateful for the invaluable support of my family, my Select Group colleagues, the management of Professional Game Match Officials Limited and our union Prospect."
He said racism had no place in football and victims of abuse should not be discouraged from speaking out, but "there are processes that should be adhered to."
"I know first-hand the ramifications of allegations of this nature being placed into the public domain ahead of a formal process and investigation. I hope no referee has to go through this in the future."