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"The investigation has now concluded that there was insufficient evidence of racism or discriminatory conduct at the match to warrant the opening of disciplinary proceedings against AC Sparta Praha," UEFA said in a statement on Friday.
Rangers contacted UEFA about alleged abuse after Kamara was apparently repeatedly booed before being sent off in the 75th minute of the Scottish champions' 1-0 Europa League defeat against Sparta in the Czech capital on September 30.
The match was initially meant to be played behind closed doors following a separate racist incident when Monaco's Aurelien Tchouaméni was subjected to abuse from the stands during a Champions League qualifier in August.
However, UEFA relented to allow around 10,000 fans, mainly made up of school-children with some accompanying adults, to attend.
Rangers manager Steven Gerrard initially said he was not aware of Kamara, a Finnish international, being booed every time he touched the ball.
