The Manchester United striker had been accused of stamping on Aalborg's Kasper Risgard during a 2-2 draw at Old Trafford last week.
However after reviewing video evidence UEFA said on Monday that no charges would be brought against Rooney.
A spokesman said: "UEFA will not open any disciplinary proceedings against Wayne Rooney."
It means the England star, who on Monday was given the backing of national team manager Fabio Capello, will be available for United as they enter the knockout stages of Europe's premier club competition.