Their Mercedes team said they had "strengthened our rules of engagement to include much greater deterrents to contact between our cars".
Boss Toto Wolff said the drivers faced "sporting and financial consequences".
Wolff refused to give details of the potential sanctions but hinted it could include suspensions from races.
"You know how a driver is calibrated and what is important for them," Wolff said before this weekend's British Grand Prix at Silverstone.
"It is clear if it would happen again it would be something that has a negative outcome for their campaign."
Mercedes added that team orders - which define the order in which the cars finish a race - could be imposed "as a solution of last resort" if the drivers failed to abide by their new guidelines.
The move follows their last-lap collision when Hamilton was trying to pass Rosberg for the lead at Sunday's Austrian Grand Prix, their third contact in five races.
Hamilton went on to win the race, while Rosberg dropped down to fourth place with a damaged car.more
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