The incident went unnoticed by the referee but there were suggestions that Lukaku could face retrospective punishment for his actions.
However, it was decided that the Belgium international would face no punishment for the incident after footage was reviewed by the Football Association.
Former Manchester United midfielder Scholes, however, believes that Lukaku was lucky to get away with his actions and he was clearly not impressed by the striker’s behaviour.
Speaking to BT Sport on Tuesday night, Scholes said: “Lukaku knows he has done well there and knows he’s lucky not to get any action against him.
“It’s reckless and stupid and [he] probably deserves to be sent off.”
Lukaku has only scored one goal in his last 10 appearances in all competitions for Manchester United so far this season.
The Belgian striker will be hoping to find the net when Manchester United make the trip to London to take on Arsenal on Saturday evening.
The Red Devils continued their push for the Premier League title on Tuesday night when they sealed a 4-2 win over Watford at Vicarage Road, as Lukaku drew another blank in the top flight.
Manchester United are aiming to win the title for the first time since Sir Alex Ferguson stepped down in 2013.
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