Max Clifford has been charged with one count of indecent assault, the Crown Prosecution Service has announced.
The former publicist is accused of committing the offence in 1981.
He will appear at Westminster Magistrates Court in London on July 21.
Baljit Ubhey, Chief Crown Prosecutor for CPS London, said: "We have carefully considered the evidence gathered as part of Operation Yewtree in relation to Max Clifford, who was arrested at Littlehey Prison on March 12.
"Having completed our review, we have concluded that there is sufficient evidence and it is in the public interest for Mr Clifford to be charged with one offence of indecent assault."
Scotland Yard said Clifford is charged with one offence of indecent assault on a woman aged over 16.
A spokesman added: "Today's charge follows his arrest on Thursday 12 March."
Clifford represented some of the biggest names in showbusiness in a career that spanned more than 40 years.
He formerly represented pop mogul Simon Cowell, the late reality TV star Jade Goody and boxer Muhammad Ali.
He became famous for brokering deals with the tabloids for kiss and tell stories and was behind the tale which spawned the infamous headline, Freddie Starr Ate My Hamster.