The 33-year-old came off the bench in the 84th minute with his side trailing and seemed to hit out at the Spaniard, catching him in the back.
However referee Chris Foy saw the incident at the time, thus preventing the FA taking any retrospective action.
After the match Stoke manager Tony Pulis said: “Arteta’s challenge was poor, but Michael should not do that.”
Arteta later revealed that the players had settled their differences after the final whistle, saying: “I said: ‘Michael, I’m sorry.’ He did the same thing and it finished there and there are no problems now.”