It is the first time the 78-year-old has been charged with any offence after months of accusations.
Andrea Constand said she was drugged then assaulted at the Philadelphia home of the former US television star.
Dozens of women have accused Cosby of sexual assault, dating back to the 1970s, but he has denied wrongdoing.
Mr Cosby made no comment as he arrived at court to be formally charged. He did not enter a plea at the hearing where a judge set bail at $1m.
Later, his lawyer said that he would “mount a vigorous defence against this unjustified charge”.
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