The Manchester United midfielder was pictured appealing to the referee following the incident, which came towards the end of the first half.
Following the match, Pogba spoke to the press and, while he made it clear he didn't want his opponent to face retrospective punishment, accused the defender of 'nibbling' him.
Rudiger has now had his say on the matter though and has denied that such action was taken, although he did admit he harbours regret about the incident.
“I should not come close with my mouth to his back, no doubt about it. It looks unfortunate. Paul and I have talked about it as friends after the final whistle," he said.