The 31-year-old singer, who enjoyed chart success after shooting to fame on The X Factor in 2008, was arrested in December 2016 following allegations he raped a fan in a hotel room after a gig.
A statement released at the time of his arrest, by 10 Worlds Music UK, which looked after Mr Williams, said the singer denied the accusations.
It read: “All we wish to say at this time is that Oritse denies the allegations against him.
“The matter is in the hands of the police and it would be totally wrong for us to comment any further.”
After the allegations came to light, Mr Williams said he would be stepping back from charity work - saying “press speculation is likely to be unhelpful to the charities I work with.”
Jamien Nagadhana, 31, from Hounslow, London, has been charged with assault by penetration in connection with the same incident.
Mr Williams, of Croydon, south London, will appear at Walsall and Aldridge Magistrates' Court on Thursday.