The mechanism of not diverging Grüneisen parameter in the quantum critical heavy-fermion quasicrystal (QC) Yb 15 Al 34 Au 51 is analyzed. We construct the formalism for calculating the specific heat C V (T ), the thermal-expansion coefficient α(T ), and the Grüneisen parameter Γ(T ) near the quantum critical point of the Yb valence transition. By applying the framework to the QC, we calculate C V (T ), α(T ), and Γ(T ), which explains the measurements. Not diverging Γ(T ) is attributed to the robustness of the quantum criticality in the QC under pressure. The difference in Γ(T ) at the lowest temperature between the QC and approximant crystal is shown to reflect the difference in the volume derivative of characteristic energy scales of the critical Yb-valence fluctuation and the Kondo temperature. Possible implications of our theory to future experiments are also discussed.