A grand jury indicted Haynesworth on Tuesday. The waitress' allegations have been reported by the media after the alleged incident in February. If convicted, the 29-year-old Haynesworth faces up to six months in jail and a fine of up to $1,000.
According to the U.S. attorney's office, the government's evidence shows Haynesworth slid a credit card down the front of the server's dress and fondled her breast.
Telephone and e-mail messages left for Haynesworth's agent, Chad Speck, were not immediately returned. Speck has previously said there was no truth to the allegations.
Associated Press sports reporter Joseph White contributed to this report.