The incident is said to have taken place in Canberra in December last year and if Kyrgios is convicted, he risks up to two years in prison.
On Wednesday, Krygios, ranked 40th in the world rankings, will play the quarterfinals at Wimbledon.
Kyrgio’s lawyer, Jason Moffett, confirms that his client is aware of the accusation.
“It is a serious accusation and Kyrgios takes it very seriously,” Moffett told The Canberra Times.
Controversial Kyrgios reached the quarterfinals of the classic grass tournament on Monday for the first time in eight years.
The Australian excelled earlier in this year’s Wimbledon edition in the grumpy and heated match against world five Stefanos Tsitsipas on Sunday. The Greek said after the match, which Kyrgios won, that the Australian “was probably a bully at school”.