Wales international Hennessey denied making the gesture in a photograph on Instagram posted by his German team-mate Max Meyer in January.
The FA said a breach of disciplinary rules had been “found not proven” by an independent regulatory commission.
In a statement on the Palace website, Hennessey said: “I’m delighted that the FA have found me not guilty of this charge. This was a genuinely innocent moment, which appeared to be something completely different when captured on camera.
“I want to state for the record that I abhor all forms of racism, fascism, antisemitism or discrimination of any kind.”
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