CBI submitted the charge sheet before the court of judicial magistrate (I) Suman Srivastava here.
Gurjar has been charged under section 304 (culpable homicide) and 353 (obstructing government work) of IPC and Motor Vehicle Act.
CBI prosecutor A H Khan said it was "not an intentional murder" and was non-political.
He also said the murder was not related to mining mafia.
The accused did not possess driving licence at the time of the incident, he added.
The maximum punishment in the case is 10 years or life imprisonment.
More From This Section
The next hearing in the case will be on June 11.
Gurjar allegedly mowed down 32-year-old Singh, who was posted as Sub Divisional Officer of Police (SDOP) at Barmore town in Morena district, on March 8 when he tried to intercept a tractor-trolley laden with illegally mined stones.