Slavia’s Ondrej Kudela said something to Kamara while covering his mouth amid a melee in the final stages.
“My player tells me he was racially abused,” Gerrard said.
In a statement, Slavia said Kudela admitted swearing at Kamara but denied the “disgusting accusation” of racism.
Rangers players confronted Kudela and Gerrard got involved with his opposite number.
“The disappointing thing is that their people are trying to defend their player and calling us liars,” said Gerrard in the immediate aftermath of the game, which Rangers lost 2-0 to exit 3-1 on aggregate.
“I feel angry. I know Glen and trust him 100%. The Slavia player has caused this and something needs to happen quickly but that is above me. But whatever happens, I stand next to Glen.
“I don’t even feel like talking about football just now. It’s over to Uefa now and I just hope it doesn’t get pushed under the carpet.”
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