The pair were seen hugging after Hakimi gave Dortmund a 2-0 lead in their win against Wolfsburg, Sancho providing the assist.
Before the Bundesliga's return, the German Football League (DFL) advised that along with other social-distancing measures, players should refrain from celebrating goals in an overtly physical manner.
However, following the first weekend back, the DFL announced that players would not be punished for breaking social distancing guidelines, given that the measure were only advisory.
A DFL spokesperson said earlier this week: "On the subject of goal celebrations, it was something that was merely advised in the guidelines - sanctions are therefore not necessary."
Therefore, Dortmund players will face no punusment for celebrating together, though the DFL is likely to issue clubs another reminder regarding the guidelines.
The announcement came after Hertha Berlin players hugged as a group following their victory over Hoffenheim, with Dedryck Boyata also appearing to kiss team-mate Marko Grujic - though he later revealed he was simply conversing about a set piece.
DFL CEO Christian Seifert and director of football affairs Ansgar Schwenken had “express[ed] praise and heartfelt thanks” for the players' efforts to follow the guidelines, but insisted improvement was still needed.
“We see potential for improvement above all in the goal celebration, which, with all understanding of emotions, should take place temporarily without hugs and face contact," they had said in a statement.
The German Football League have revealed that the guidelines are not mandatory but advised, meaning breaches will not be punished.