Escobar, who played for Toronto last season, drew loud jeers after he hit a homer in the ninth inning of Monday's 7-5 loss to the Blue Jays, and then made an exaggerated safe sign as he crossed home plate.
He had been booed in every at bat.
After the game Maddon said he would speak to Escobar about the gesture, adding that he was "certain" Escobar would not do it again.
However, after learning that Escobar has celebrated all his home runs that way this season, Maddon relented.
Maddon says "I love the way he is, I want him to remain the way he is. He did nothing wrong."