Max Clifford has been charged with one count of indecent assault allegedly committed in 1981, the Crown Prosecution Service has said.
The former public relations executive will appear at Westminster Magistrates Court on 21 July.
Scotland Yard said the charge relates to a woman aged over 16.
Baljit Ubhey, Chief Crown Prosecutor for CPS London, said the CPS had considered evidence gathered as part of Operation Yewtree in making the decision.
She said: “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.”
Clifford represented some of the biggest names in showbusiness during a career that spanned more than four decades.
He became well known for brokering deals with tabloid newspapers for kiss-and-tell stories.
He formerly represented pop mogul Simon Cowell, the late reality TV star Jade Goody and boxer Muhammad Ali.