In the opening quarter of Friday night's draw at the SCG, Close pinned the Swans defender's right arm and took him to ground.
Francis' head hit the turf and he took some time to get to his feet, but played out the match.
The AFL confirmed match review officer Michael Christian had assessed the incident but determined premiership forward Close had no case to answer.
"Francis gains possession of the ball with momentum in the Sydney Swans' back pocket and is tackled by Close," the AFL said in a statement.
"It was the view of the MRO that despite having Francis in a vulnerable position, Close attempted to slow momentum in taking him to ground and that in the circumstances he was not careless in tackling in that manner.
"No further action was taken."
The 24-year-old is available to face North Melbourne next week.
Close was suspended for one match for his pin-the-arms tackle in round eight that resulted in Adelaide's Jordan Dawson striking his head on the turf, amid the AFL's crackdown on dangerous tackles.
He challenged it at the tribunal but was unsuccessful.
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