The Labour MP for Falkirk was arrested on Wednesday when police were called to Strangers Bar, at around 11pm.
Joyce, 51, has been bailed and will appear at West London Magistrates’ Court on March 7.
He has also been suspended from the Labour Party.
Joyce was in the bar, which is reserved for MPs and their guests, on Wednesday evening when a fight allegedly broke out between him and Tory MP for Pudsey Stuart Andrew, another Conservative MP and a Labour whip.
Joyce was driven away from the back of Belgravia police station in central London on Thursday after he was charged.
Commons speaker John Bercow asked MPs not to discuss the incident in the Chamber.
“Members will be aware of reports of a serious incident in the House,” he said.
“I have been informed by the Serjeant at Arms that the honourable member for Falkirk has been detained in police custody.
“The matter is being investigated. I take this matter very seriously, as do the House authorities.”
Joyce was first elected as MP for Falkirk West at a byelection in December 2000.
He served in the army medical corps before he began his political career.
