The squad were back at their Cobham training doing on Sunday following Saturday’s shock 5-2 home defeat to West Brom.
A late challenge from Rudiger on Kepa during a training match prompted a shoving match between the two before manager Thomas Tuchel intervened and sent Rudiger back to the changing rooms.
It is understood Rudiger has since apologised to Kepa and Tuchel considers the matter closed.
It has been reported earlier this season that Rudiger had clashed on more than one occasion with Cesar Azpilicueta during training.
Rudiger lost his place in the starting line-up during the closing stages of Frank Lampard’s tenure as Chelsea boss, but has regained his place and played a key role under Tuchel.
The Press Association also report that Azpilicueta and Reece James clashed following the defeat to the Baggies, which ended Tuchel’s unbeaten start to life at Stamford Bridge.
Chelsea are next in action on Wednesday when they play Porto in the away leg of their Champions League quarter-final.
Additional reporting by Press Association.