The 30-year-old, who was arrested on September 28, will appear at Teesside Magistrates' Court on November 10.
His lawyer Phil Smith, from London-based Tuckers Solicitors, said: "My client vehemently denies these charges and will be vigorously contesting them."
Cleveland Police said in a statement: "A 30-year-old man from Wynyard has been charged by police with two counts of sexual assault and urinating in a public place and will appear at Teesside Magistrates' Court on November 10.
"The man was arrested in the early hours of Wednesday September 28 on suspicion of sexual assault and possession of a Class A drug. He was re-arrested on suspicion of sexual assault on October 14 after a second allegation was made.
"He has been released with no further action on suspicion of possession of a Class A drug."
Bramble was suspended by Sunderland after the allegations against him surfaced, pending the outcome of a club investigation.
The player's career started at his home town club, Ipswich, before he moved to Newcastle under Sir Bobby Robson for £6million.
He joined Wigan and then moved back to the north-east with Sunderland last year. The powerful but sometimes error-prone centre-back was picked 10 times for England's Under-21 team.
Source: PA
Source: PA