The 78-year-old Golden Globe winner was accused of drugging and violating former Temple University employee Andrea Constand at his mansion in Elkins Park, Pennsylvania more than a decade ago.
Cosby's bail was set at $1 million with additional conditions of surrendering his passport and having no contact with the alleged victim. He posted $100,000 (10 percent of the bail, as required) and was released.
This marked the first criminal charge brought against Cosby after more than 50 women have accused him of drugging and/or sexually assaulting them. Despite the accusations, he has maintained his innocence and has denied all wrongdoing.
Cosby's attorneys gave a statement to ET, saying, "The charge by the Montgomery County District Attorney's office came as no surprise, filed 12 years after the alleged incident and coming on the heels of a hotly contested election for this county's DA during which this case was made the focal point. Make no mistake, we intend to mount a vigorous defense against this unjustified charge and we expect that Mr. Cosby will be exonerated by a court of law."