BBC News
Ms Hilton was arrested in Port Elizabeth after the Netherlands' defeat of Brazil in the quarter-finals of the tournament.
She appeared at a special court on Friday evening.
A friend of Ms Hilton with her at the stadium was found guilty of marijuana possession, her publicist said.
Ms Hilton's friend was sentenced to pay a fine or spend 30 days in jail, it was reported.
Ms Hilton appeared in the court wearing a beige dress and a glittery necklace with her hair in two ponytails, a reporter said.
In court she was addressed as "accused number 1".
She thanked the court before leaving.
'Misunderstanding'
Her publicist told the Reuters news agency that she had been questioned by police but no charges had been brought.
"I can confirm that the incident was a complete misunderstanding and it was actually another person in the group who did it. The case has been dropped against Paris and no charges will be made," Ms Hilton's spokeswoman said.
After her release she posted a note on the social networking site Twitter saying: "I was assisting the police with the investigation and answering their questions."
Ms Hilton is the great-granddaughter of the founder of the Hilton hotel chain.
In 2007 a US court sentenced her to 45 days in prison for drunk and reckless driving.
After serving 25 days in jail she told US talk show host Larry King that she had re-evaluated her life and wanted to do more charity work and less partying.
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