Metropolitan Police confirmed the 51-year-old presenter was charged on 1 September and released on conditional bail.
He will now appear before magistrates in Uxbridge on 2 October.
Lamarr, born Mark Jones, was a regular on TV screens in the 1990s, rising to fame as the host of ‘The Word’, before working as an outdoor presenter on ‘The Big Breakfast’.
However, he is probably best known for hosting music quiz show ‘Never Mind the Buzzcocks’ from 1996 to 2005, before Simon Amstell succeeded him as presenter.
Lamarr was also a team captain on Vic and Bob’s comedy panel show ‘Shooting Stars’ between 1995 and 1997.
He presented a weekly late-night BBC Radio 2 show and specialist music series ‘Shake, Rattle and Roll’ for 12 years until 2010.
He has stepped out of the limelight in recent years, writing film scripts and working as a music producer.