Fairfax County police say the 29-year-old Haynesworth and his attorney appeared at a police station Saturday morning. Haynesworth signed a summons warrant charging him with assault and left.
He's scheduled to appear in court on March 31.
The encounter that led to the charge occurred on Feb. 2. Police said a 38-year-old man told investigators he was assaulted by the driver of a pickup truck who was tailgating him. The driver was later identified as Haynesworth.
Haynesworth's agent, Chad Speck, has said the player is innocent and that his accuser is seeking fame and money.