Vaughn, 48, relinquished his commentary duties last June after his former Yorkshire teammate Azim Rafiq said he used racist language during their time at the cricket club.
Vaughan vigorously denied the charges and was acquitted by the Cricket Disciplinary Commission (CDC) in March.
Rafiq, a player of Pakistani origin, claimed that Vaughn told him and other Asian players that there were too many of you, we needed to do something about it before the 2009 match.
The MAC stated that its commission was not satisfied with the balance of probabilities that Vaughn said those words at the time and under the specific circumstances referred to.
Vaughan, who led England to success in the 2005 Ashes series, was one of seven people accused by the England and Wales Cricket Board of using racist or discriminatory language.
He had previously been excluded from the BBC’s coverage of the 2021-22 Ashes series in Australia.
England will face Ireland at Lord’s on June 1, followed by a five-match series against Australia at Edgbaston on June 16.