A crowd of about 45,000 packed Duesseldorf's LTU Arena Sunday night to watch the first of two German concerts on the worldwide "Confessions" tour.
The crucifixion scene recently drew criticism in Italy, and Duesseldorf prosecutors said last week that they would monitor reports about the concert. They did not, however, send observers.
On Monday, spokesman Johannes Mocken said they would not open an investigation for possible charges of insulting religious beliefs. While the scene might be "hurtful to religious people," there was no indication of a criminal offense, he said.
Mocken said the scene was covered by laws protecting artistic freedom.
The scene — in which Madonna rose from the stage crucified on a mirrored cross and wearing a crown of thorns during her rendition of "Live to Tell" — drew criticism from religious leaders in Italy. They condemned it as an act of hostility toward the Roman Catholic Church.
Madonna's representatives have insisted, however, that the performance on the cross is not disrespectful toward the church.
Madonna is scheduled to perform in Hanover on Tuesday. Authorities there have not publicly expressed concerns about her show's content.