The flashpoint came moments before the interval after Bellingham shoved Jerome Opoku near the Ghana technical area. As players and coaches walked to the tunnel, Bellingham engaged with Queiroz and his backroom staff, and had to be pulled away by teammate Morgan Rogers.
"It was an exchange of emotions, and Jude stood up for himself and his team," Tuchel said. "Emotions are a part of the game but we don't want to get distracted with stuff that could distract us."
No cards were shown and tensions had settled by the time the second half resumed.
Queiroz offered a different account of how the incident began.
"He had a bad reaction with some bad names and that's why the story started," the Ghana boss said.
Bellingham was keen to play it down, and drew a warm reference to Queiroz's past at Manchester United.
"It was just when I made a silly tackle, to be honest," Bellingham said. "I was trying to win the ball, and I followed through a little bit and caught the lad. I spoke to him after, and then their bench jumped up trying to get me a yellow card.
"I think their manager [Queiroz] — I just recognised him. He's obviously the one who used to be at Manchester United, so great respect, and nothing but a competitive edge for both of us."
The incident added to a frustrating night for the midfielder, who was named player of the match despite feeling the award belonged elsewhere.
"I didn't deserve it, to be honest," Bellingham told the BBC. "It probably should've gone to one of their lads who defended so well. Had a couple of moments but couldn't get in the game. I'm grateful to whoever voted."
Bellingham had started and scored in England's 4-2 win over Croatia in the opening group game. The latest incident comes months after he was sent off for foul and abusive language while playing for Real Madrid in February.