The controversial incident occurred just eight minutes into the match when Rooney kicked Mutch before lashing out at the Cardiff midfielder with his left hand as his run was blocked off.
Rooney was only shown a yellow card but might consider himself fortunate not to have been dismissed.
However, Turner admits he did not want to see the England striker - who put United ahead in the 15th minute - sent off.
"I do think he kicked out from where I was, but I think the way game's going, I didn't want him sent off really because it's becoming less and less of a physical game and I think we need to keep some of that in the game for the enjoyment of the fans," he told Sky Sports 1.
"I think it's nice to have a bit of that going on."
Rival managers David Moyes and Malky Mackay also felt Rooney only deserved a yellow card.
Asked if Rooney was fortunate to still be on the pitch after the early incident, United boss Moyes said: "I don't think so.
"I think the boy runs across his path and was a bit of a tussle but I don't think it deserved any more than a yellow card."
He added: "I think there's lashing out at times and I don't think that was a lash out in any way. "
Cardiff manager Mackay said: "Well, I'll look at it again but on first look it certainly is a real kick at him, but maybe the booking was sufficient."
Mackay was also questioned about an incident which saw Cardiff midfielder Gary Medel raise his hands to the face of Marouane Fellaini as the duo jostled in the area.
Neither player was punished for the incident but while Mackay admits Medel could have been dismissed, he also believes United midfielder Fellaini needs to be careful with the way he marks.
Asked about Medel, Mackay said: "He could (have been sent off) but then I also look at Fellaini and doing what he does normally and putting his head on someone else's face, and that's for me a sending off. So I think that's something that needs to be looked at as well.
"Having seen the way Fellaini marked and used his arms at times in the game, not all the times but at certain points, but more so putting his head into someone's face, I think that also justifies having a look at.
"But overall I'm happy that both teams deserved to have 11 men on the pitch. They didn't deserve to have any men off and neither did we."
Rooney's goal put United ahead and then Patrice Evra restored the champions' advantage on the stroke of half-time after Fraizer Campbell had equalised for Cardiff.
Evra's goal looked set to earn United a valuable three-point haul from the trip to south Wales, but in stoppage time Cardiff substitute Kim Bo-kyung struck to earn his side a point.
Mackay said: "I think we played really well today. In terms of chances I thought we created a lot, we passed the ball really well. It's probably the most complete first-half performance we've had this season. We were playing the champions so I'm delighted."
The result saw United stretch their unbeaten run to 10 games but they missed out on the chance to climb into the top four.
Asked his thoughts on the result, Moyes said: "Just disappointment that we didn't take all three points in the end, but Cardiff made a game of it and put us under pressure.
"We gave away stupid free-kick which led to the (equalising) goal but we had one or two chances ourselves which we maybe could've put the game to bed earlier."