Maguire scored Manchester United’s second goal in a 2-0 win but the England international could have seen red after tumbling with Batshuayi in the first half.
Maguire appeared to kick out at the Belgium striker in the groin but following a VAR review, the 26-year-old escaped a booking for the incident.
Chelsea manager Frank Lampard questioned why Maguire was allowed to stay on the pitch but the former Leicester City defender was quick to prove his innocence after the game.
"I can see why [it could be seen as a kick]. I knew I caught him," Maguire told Sky Sports.
"I thought he was going to fall on me, my natural reaction was to straighten a leg, so if he was to fall on me, it was to hold him up. It probably looks worse than it was.
"It wasn't a kick out, there was no intent, it was just my natural reaction to straighten my leg and if he was going to fall on me, to hold him up. I did catch him, I knew at the time but I think it's the right decision.
"I didn't have an intent to hurt him or kick him. It was just a natural reaction to straighten my leg, it wasn't a kick. I've got studs on my boot, makes it a little bit worse. I apologised to him but it was nice the referee has seen sense."
