The former star arrived late for a flight back to Buenos Aires and reportedly caused a disturbance.
"There was a problem with TAM (airline) staff. It turned nasty and the police were called... and he was detained for resisting arrest," the police said.
Maradona, 45, who was in Brazil for a charity match has had health and drugs problems in recent years.
Star released
Federal police spokesman Carlos de Melo said Maradona was released after being interrogated, and would return to Argentina on a later flight.
Showing contempt to authorities is punishable in Brazil with up to two years in prison.
Maradona was not charged, however Brazilian authorities have not ruled out such an action until a full investigation has been carried out.
A door was broken during the incident, and Maradona reportedly said he would pay for the damage.
The former footballer played in the "Game of the Stars" in Rio de Janeiro on Wednesday night in a match organised by ex-Brazilian star, Zico.
Maradona led Argentina to the 1986 World Cup title and to the 1990 final. He later retired amid cocaine addiction and health problems.