The star, who found fame as part of the boyband on ‘The X Factor’ in 2008, was arrested in December 2016 over allegations he raped a fan at a hotel in Wolverhampton.
Williams, who previously denied the claims, will appear in court next month, alongside another man.
A West Midlands Police spokesperson said (via the Press Association): “Police have charged two men with sexual offences following an allegation of rape at a Wolverhampton hotel in December 2016.
“Oritsé Williams, aged 31, from Croydon, London, has been charged with rape.
“Jamien Nagadhana, aged 31, from Hounslow, London, has been charged with assault by penetration.”
A statement released at the time of his arrest by 10 Worlds Music UK, which looked after Williams, said the singer denied the accusations.
It read: “All we wish to say at this time is that Oritsé denies the allegations against him.
“The matter is in the hands of the police and it would be totally wrong for us to comment any further.”
Shortly afterwards, Williams said he would be stepping back from his charity work, adding: “Unfortunately, the press speculation is likely to be unhelpful to the charities I work with and the decision I have taken is with their best interests in mind.”
Williams and Nagadhana are due to appear at Walsall and Aldridge Magistrates’ Court on 11 October.
HuffPost UK has contacted a representative for Williams, and is awaiting a response.