Hawke's Bay Police Area Commander Inspector Tania Kura said Ms Kupa met the criteria for a pre-charge warning.
"In this instance it was decided to issue Ms Kupa with a pre-charge warning due to the lower level of her offending, her attitude when arrested and the fact that she was sober. She was not deemed a risk for the rest of the night."
Ms Kupa's associate who helped her gain access to the field was also issued with a pre-charge warning for being a party to disorderly behaviour and was also trespassed from McLean Park for two years.
All Blacks coach Steve Hansen said Ms Kupa's streak was "a pain in the backside, excuse the pun".
"The question is, how do they get on? There was enough of them in the jackets, you'd think they'd be able to stop them," he said.
"They did really good tackles at the end of it, but they probably should have done something before she went on."
Hawke's Bay Rugby Union chief executive Mike Bishop said it was "disappointing" she hadn't been charged. "Certainly my stance would be that sort of idiotic behaviour shouldn't be encouraged in any way, shape or form," he said. Ms Kupa said she "walked away without a scratch" after she was apprehended by security.
To streak at an All Blacks game had been on her bucket list for years.
"I wrote it as a bucket list goal when I was 18, so I've been wanting to do it for seven years."
As she ran on to the field she gave Israel Dagg a tap on his behind. "I was aiming for Richie McCaw but I couldn't find him." She said after being put in a paddy wagon and taken to the cells, she was released with a warning.
She had formerly been a part of the Hawke's Bay woman's rugby team Tuis' training squad.
Dagg said he was surprised by the Ms Kupa's slap.
"She ran [at me] and I said 'oh' and she gave my booty a slap." Dagg said the slap didn't put him off his game.
"I think it gave me a little bit more excitement." The security firm for the event Red Badge could not be contacted for comment.