Following his arrest in north London in October, Michael was charged with "being unfit to drive" just before Christmas and will appear at Brent Magistrates Court in London on January 11, a police spokesman said.
Motorists called police to report that the 43-year-old former Wham! frontman's car was causing an obstruction at traffic lights in northwest London on October 2.
Michael was then found slumped over the steering wheel of his car and arrested on suspicion of being unfit to drive, and possession of what is believed to be cannabis.
He was taken to hospital before being cautioned for the drug offense and released on police bail pending inquiries about his fitness to drive.
It is the second time this year that the singer has been found in a similar state at the wheel of his car. Police cautioned him in February for possessing cannabis in February in central London.
In April, he was in the news again when he collided with three parked cars near his home in north London.
In June, a British tabloid newspaper published claims that the homosexual singer -- who was born Georgios Kyriacos Panayiotou -- was caught "cruising" for gay sex at a well-known London pick-up spot.
Michael then went on television to defend his lifestyle.
The singer rose to fame as half of Wham! in the 1980s. His 1998 arrest for lewd conduct at a public toilet in California forced his homosexuality into the public domain.
Michael has sold over 85 million records worldwide, notching up several number one singles in Britain and the United States, including "Careless Whisper" and "Faith".