At the final whistle when the team went under the Curva to salute the travelling fans, he refused.
Robinho went straight into the locker room despite Bonera's attempts to hold him back.
"I am amazed there is controversy over this," the defender told Milan Channel.
"Robinho was a little irritated at the end of the game and was upset at the result, so he went straight into the locker room. That is all that happened. There was no argument with him.
"We played well, but didn't finish off our chances and remain a little inconsistent. At least it was a positive performance to lead us into Zenit and the derby."