He is charged with endangering the welfare of a child and the distribution of obscenity, reported Aceshowbiz.
Chelsea, 17, had been missing with her therapy dog for a week when her 53-year-old famous mother asked public for help to find her on August 18.
The teenager was eventually found in a New Jersey house with the 25-year-old man. They reportedly met through the dating app, Tinder.
Police searched Chelsea's cellphone with Rosie's permission and found "evidence of inappropriate communications over the last several weeks between Sheerer and the minor."
Sheerer, who is a convicted drug offender, could face up to 10 years in prison if convicted on both charges. He was allegedly charged with child endangerment and heroin possession in the past.