The tribunal deliberated for more than 90 minutes before finding her guilty instead of careless contact, which carries only a $200 fine.
Tribunal chair Renee Enbom made it clear in the verdict that had Sheerin been found guilty of the intentional charge, she was facing a heavy suspension.
Sheerin smiled and rubbed her hands together after the verdict.
She was referred directly to the Tribunal for the unusual charge, following Saturday night's Dreamtime in Darwin draw with Essendon.
In the chaotic end to the match, Sheerin pushed opponent Georgia Nanscawen at a stoppage with less than two minutes left and the Bombers midfielder fell over.
The umpire then fell over Nanscawen before quickly getting back to her feet.
"We agree with Sheerin's submission that the primary offence was a very serious one," Enbom said.
"We also agree with Sheerin's evidence, that intentionally pushing an opponent into an umpire is contrary to the spirit of the game and risks the safety of the umpire.
"Had we been satisfied ... that Sheerin had engaged in such conduct, then the sanction would have been a significant one, involved far more than a fine."
In her evidence, Sheerin said she was "very sorry" the umpire had fallen over, adding the collision "wasn't my intention".
Sheerin said she was trying to minimise Nanscawen's space at the stoppage and create room for herself.
"I didn't expect her to go to ground," she added.
Any ban would have been a massive blow for the Tigers, who are sixth and half a game off the double chance with one round before the finals.
Richmond's ladder position will be determined by their home game on Sunday against second-placed Hawthorn. All but one of the games this weekend will shape the top eight.
Eilish Sheerin has been referred directly to the tribunal for intentional contact with an umpire following this incident.— AFL Women's (@aflwomens) Full week nine Match Review findings: https://t.co/GctYXTl6Oa pic.twitter.com/x2UeohVHvjOctober 28, 2024
At the start of the hearing, Richmond said they would plead guilty to a careless contact charge.
AFL advocate Amara Hughes argued the incident should be ruled as intentional - meaning a suspension - because the contact between Sheerin and Nanscawen was forceful.
Hughes also argued the umpire was "very clearly" in Sheerin's line of sight, it was a conscious decision to push Nanscawen and the Essendon player's contact with the umpire was "inevitable."
Richmond advocate Jonathan Barreiro argued it was a normal football action and added it was "good football craft".
"It's not a situation where she's tried to flatten her opponent," he added.
He also argued Nanscawen had lost her balance, rather than falling over because of the force of Sheerin's push.
Footage, that was not played at Tuesday's 45-minute hearing, shows Sheerin also pushing Nanscawen at two stoppages before the incident that prompted the charge.
Sheerin was best afield at the inaugural Dreamtime in Darwin clash and the two-time All-Australian is one of Richmond's most important players.
The match has taken a heavy toll. Essendon ruck Steph Wales ruptured an ACL, while Richmond's Sarah Hosking ended the game on crutches and with an icepack on her right hamstring after she also went down late.
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