The Australian inexplicably lashed out at Sakho after making a clearance in Crystal Palace's 3-1 win at Upton Park on Saturday.
Referee Mike Dean failed to spot the incident, though Jedinak has been retrospectively charged by the Football Association after the incident was caught by television cameras.
Jedinak has until 18:00 GMT on Tuesday to respond to the charge, with Palace set to play Southampton later that day.
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