The "Cosby Show" star was charged with aggravated indecent assault, stemming from allegations he attacked Andrea Constand at his mansion in Pennsylvania in January, 2004.
The 78-year-old comedian turned himself in to police and was arraigned in a Montgomery County courthouse before being released on USD 1 million bail.
Cosby, who has remained largely silent amid the scandal, started the year with a message of thanks to those who have been supporting him.
"Friends and fans, Thank You," he wrote in a post on Twitter.
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