The neo-soul singer allegedly stripped naked in Dealey Plaza, Dallas, at the spot where President John F Kennedy was assassinated in 1963.
Badu ended the scene for 'Window Seat' by re-enacting the moment when JFK received the fatal gun shot wound to the head, reports the BBC.
Sergeant Warren Mitchell said Badu was charged for the March 13 incident after a witness offered a sworn statement to police on Thursday. Badu's spokeswoman declined to comment.
Sgt Mitchell said that the police department has had "people calling from all across the country to express their concern". Badu can either fight the charge or pay a fine, which could be up to $500 (£328).