The 47-year-old Uruguayan has until 6pm on March 9 to respond to the charge after being sent to the stands for kicking a drinks holder and then arguing with Bruce after seeing midfielder Jack Rodwell booked for diving by referee Mike Dean.
An FA statement read: "Sunderland manager Gus Poyet has been charged by the FA following the game against Hull City on 3 March 2015.
"It is alleged that his behaviour in the 35th minute of the fixture amounted to improper conduct.
He has until 6pm on 9 March 2015 to respond to the charge.
"Meanwhile, Hull manager Steve Bruce has been contacted by The FA in relation to the same incident and formally reminded of his responsibilities."
It is understood Poyet's charge relates to kicking the water bottles rather than the confrontation with Bruce, which both men played down after the game.
The Black Cats were trailing 1-0 at the KC Stadium when Poyet reacted furiously to Dean's decision to caution Rodwell, and assistant referee Stuart Burt had to intervene as the two bosses became embroiled in a heated exchange before the South American made his way to the stands.
His mood improved significantly, however, when Rodwell headed home a late equaliser to secure a 1-1 draw and a precious point to give Sunderland a little more breathing space about the battle for Barclays Premier League survival.
Source : PA
Source: PA