Robinho's advisor Chris Nathaniel said: "He has maintained his innocence throughout the police interview process and I am delighted that no further action will be taken.
"Robinho is a hard-working family man, who is extremely passionate about football.
"He now wishes to focus his attention on Manchester City to help create a successful end to the season.
"In the meantime he wants to pass on his sincere thanks to all his family, friends, fans and Manchester City colleagues who have supported him through this terrible ordeal."