The incident, which saw Hazard sent-off, overshadowed Swansea's 2-0 aggregate win.
The Swans' win over European champions Chelsea at the Liberty Stadium saw Swansea reach their first major final.
"Not everybody but a lot will talk about the red card. That was a bad incident," Laudrup said.
"I completely understand the player was frustrated because his team is behind and the ball boy should have given away the ball.
Hazard will regret incident - Laudrup
"But again there are things you can never do, you can't kick another person or a boy like that."
With 10 minutes of a tense match remaining, 17-year-old Morgan went to retrieve the ball as it went out of play behind the home goal.
Hazard approached Morgan, seemingly frustrated at the speed with which he was carrying out his duties, and the youngster fell to the ground as the Belgium midfielder attempted to get the ball from him.
The Chelsea player then tried to kick it from under Morgan, but appeared to make contact with the youngster as he dislodged the ball.
"I think he will regret it, Hazard, who for me is a great player, a great young player," added Laudrup, speaking to Radio 5 live.
"But I think when he sees the images on the television he will regret it when he's calm again."
A Swansea City spokesperson confirmed that no further action would be taken over the incident and that Morgan - whom the club refused to name - and Hazard had met amicably after the game.
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