FIFA says it cannot bring charges over German fans wearing black face make-up during the match against Ghana.
Several fans who were pictured with blackened faces were reported to FIFA by the anti-discrimination group FARE but no action will be taken.
A FIFA spokeswoman said: "There is no legal or factual element justifying the opening of disciplinary proceedings, but we abhor any insulting or discriminatory behaviour and we strongly appeal to all fans, teams and officials to uphold that spirit."
FIFA's disciplinary panel on Monday cleared Mexico's FA of improper conduct after the organisation received complaints over offensive remarks from fans, saying under the current rules the federation was not responsible.