The emergency services were called to Cowbridge Road East, Canton, on Wednesday at about 15:50 BST.
The girl was taken to the city's University Hospital of Wales with suspected head injuries.
South Wales Police said no further action was being taken against any party involved.
It said the girl "is making a full recovery".
A six-year-old girl taken to hospital after being hit by a vehicle near Cardiff city centre is recovering from her injuries, police have said.