The Italian legend was hauled in front of the Italian football's video panel, headed by Maurizio Laudi.
Laudi ruled that Maldini had kicked out at Bierhoff, after the German had challenged him, and for that he has been handed a one-game suspension.
Because the referee at the time did not spot the incident, the Italian authorities could use video evidence.
Internazionale midfielder Luigi Di Biagio was handed a two-game suspension for twice kicking out at Juventus' Edgar Davids.
Roma ace Francesco Totti escaped punishment after his clash with Lazio's Dejan Stankovic.
The Italian international was caught striking Stankovic on the side of the head after grabbing him, but because the match official gave a foul at the time - no action can be taken against the Roma man now.
