Rondo will miss Wednesday night's game in Atlanta. The team didn't comment beyond a statement announcing the suspension.
Rondo was benched with 8:10 remaining in the third quarter of Dallas' 99-92 win over Toronto on Tuesday. He was bringing the ball up the court when Carlisle angrily shouted for a timeout and exchanged words with Rondo from several feet away as the player headed to the bench.
The Mavericks acquired Rondo in a trade with Boston in December. He missed six games this month after breaking a bone near his left eye.