He didn't, according to his rep.
"The reports claiming that Miguel was warned by producers not to jump are completely false," the "Adorn" artist's rep said in a statement to E! News.
"A number of attempts were made to reach Khyati and her lawyer after the performance to see how she was doing and whether any assistance could be offered. Khyati's well being has been and continues to be of the utmost concern to Miguel."
Khyati Shah is the audience member who was on the receiving end of Miguel's landing during his ill-fated jump from one part of the stage to another.