Formula One world championship leader Rosberg collided with Hamilton on lap two at Spa-Francorchamps, an incident that resulted in the Briton suffering a puncture that ended his chances of taking any points from the race.
Rosberg lost some of his front wing but was still able to finish second behind winner Daniel Ricciardo, extending his lead over Hamilton in the drivers' standings to 29 points.
Hamilton later claimed that Rosberg had admitted to hitting him deliberately in an incident that served as the nadir of an enthralling in-team title battle that has been fraught with tension throughout the campaign.
And, at a meeting with Hamilton and executive directors Toto Wolff and Paddy Lowe, German Rosberg admitted fault and has now been punished for his actions - though no specific sanctions were made public.
A Mercedes statement released on Friday read: "Toto Wolff, Paddy Lowe, Nico Rosberg and Lewis Hamilton met today in the boardroom of Mercedes AMG Petronas headquarters in Brackley to discuss the events of the Belgian Grand Prix.
"During this meeting, Nico acknowledged his responsibility for the contact that occurred on lap two of the Belgian Grand Prix and apologised for this error of judgement.
"Suitable disciplinary measures have been taken for the incident."
However, despite the crash, Mercedes insist they will continue to allow their drivers to race without the restrictions of team orders.
"Mercedes-Benz remains committed to hard, fair racing because this is the right way to win world championships," the statement continued.
"It is good for the team, for the fans and for Formula One.
"Lewis and Nico understand and accept the team's number one rule: there must be no contact between the team's cars on track.
"It has been made clear that another such incident will not be tolerated. But Nico and Lewis are our drivers and we believe in them.
"They remain free to race for the 2014 FIA Formula 1 World Championship."