"Mr Cosby is charged with aggravated indecent assault. This is a felony of the first degree," Kevin Steele, assistant district attorney for the state's Montgomery County, told reporters in Norristown, in the suburbs of Philadelphia.
Cosby, 78, was to be arraigned on the charge of aggravated indecent assault later today.
The charges stems from allegations made by a former employee of Temple University in Philadelphia, who says Cosby assaulted her at his home near the East Coast city in 2004.
Steele said the charges stemmed from new evidence in the case that came to light in July, prompting the reopening of the investigation.
"A prosecutor's job is to follow the evidence wherever it leads and whenever it comes to light," Steele said.
Cosby has been a star standup comedian and celebrity television pitchman for decades, but attained his greatest fame for his role as the lovable family doctor and pater familias in the hit 1980s sitcom "The Cosby Show."
